1 citations · 1 across the 3 of their papers we have counts for
3 papers
Modular Design of Strict Control Lyapunov Functions for Global Stabilization of the Unicycle in Polar Coordinates
Velimir Todorovski, Kwang Hak Kim, Miroslav Krstic
Since the mid-1990s, it has been known that, unlike in Cartesian form where Brockett's condition rules out static feedback stabilization, the unicycle is globally asymptotically st…
Half-Global Deadbeat Parking for Dubins Vehicle
Miroslav Krstić, Kwang Hak Kim, Velimir Todorovski
This paper presents a framework for stabilizing the Dubins vehicle model to zero in finite time (deadbeat parking) by interpreting distance as a time-like variable. We develop cont…
Robust Control Barrier Function Design for High Relative Degree Systems: Application to Unknown Moving Obstacle Collision Avoidance
Kwang Hak Kim, Mamadou Diagne, Miroslav Krstić
In safety-critical control, managing safety constraints with high relative degrees and uncertain obstacle dynamics pose significant challenges in guaranteeing safety performance. R…