4 citations · 5 across the 10 of their papers we have counts for
11 papers
Inverse Optimal Feedback Stabilization of 3D Nonholonomic Vehicles in Spherical Coordinates
Kwang Hak Kim, Mamadou Diagne, Miroslav Krstic
Inverse optimal control provides optimality and robustness guarantees without solving the Hamilton--Jacobi--Bellman (HJB) equation, but its application to 3D nonholonomic vehicles…
Global Exponential Stabilization of a 3D Nonholonomic Vehicle in Spherical Coordinates
Kwang Hak Kim, Velimir Todorovski, Miroslav Krstic
Many spatial (3D) vehicles, including AUVs and fixed-wing aircraft, are effectively nonholonomic and subject to limited actuation, such that continuous time-invariant stabilization…
Global Exponential Stabilization of the Kinematic Bicycle Model of a Car in Polar Coordinates
Velimir Todorovski, Kwang Hak Kim, Alessandro Astolfi +1
At parking speeds, the kinematic bicycle is the prevailing model for car-like vehicles. Yet, despite its wide use, stabilizing feedback laws for this system are scarce in the liter…
Nonholonomic Robot Parking by Feedback -- Part II: Nonmodular, Inverse Optimal, Adaptive, Prescribed/Fixed-Time and Safe Designs
Kwang Hak Kim, Velimir Todorovski, Miroslav Krstić
For the unicycle system, we provide constructive methods for the design of feedback laws that have one or more of the following properties: being nonmodular and globally exponentia…
Nonholonomic Robot Parking by Feedback -- Part I: Modular Strict CLF Designs
Velimir Todorovski, Kwang Hak Kim, Alessandro Astolfi +1
It has been known in the robotics literature since about 1995 that, in polar coordinates, the nonholonomic unicycle is asymptotically stabilizable by smooth feedback, even globally…
Integrator Forwading Design for Unicycles with Constant and Actuated Velocity in Polar Coordinates
Miroslav Krstic, Velimir Todorovski, Kwang Hak Kim +1
In a companion paper, we present a modular framework for unicycle stabilization in polar coordinates that provides smooth steering laws through backstepping. Surprisingly, the same…
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…
Inverse Optimal Feedback and Gain Margins for Unicycle Stabilization
Kwang Hak Kim, Velimir Todorovski, Miroslav Krstić
The recent development of globally strict control Lyapunov functions (CLFs) for the challenging unicycle parking problem provides a foundation for pursuing optimality. We address t…
Constant-Sum High-Order Barrier Functions for Safety Between Parallel Boundaries
Kwang Hak Kim, Mamadou Diagne, Miroslav Krstić
This paper takes a step towards addressing the difficulty of constructing Control Barrier Functions (CBFs) for parallel safety boundaries. A single CBF for both boundaries has been…
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…