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math.OC2024
Energy-Optimal Multi-Agent Navigation as a Strategic-Form Game
Logan Beaver
This extended abstracts presents a method to generate energy-optimal trajectories for multi-agent systems as a strategic-form game. Using recent results in optimal control, we demo…
math.OC2024
Optimal Control Barrier Functions: Maximizing the Action Space Subject to Control Bounds
Logan E. Beaver
This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effo…