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cs.RO2026
Joint-Feasibility Margin Feedback for Bounded-Input Second-Order Control Barrier Functions
Siyuan Yang, Shaoming He
Multiple second-order control barrier function constraints can exhaust their common control authority under bounded acceleration, even when the current state remains feasible. We d…
cs.RO2026
AUSLUN: A Fixed-Hover UAV--USV System for GNSS-Denied Maritime Search and Navigation
Siyuan Yang, Zikai Jia, Hailiang Kuang +4
Global navigation satellite system (GNSS) denial can prevent an unmanned surface vehicle (USV) from both finding a distant vessel and maintaining a globally referenced approach. Th…
cs.RO2026
Acceleration-Based Control of Fixed-Wing UAVs for Guidance Applications
Jixiang Wang, Siyuan Yang, Ziyi Wu +5
Acceleration-commanded guidance laws (e.g., proportional navigation) are attractive for high-level decision making, but their direct deployment on fixed-wing UAVs is challenging be…