6 citations · 7 across the 13 of their papers we have counts for
13 papers
A Modular Platooning and Vehicle Coordination Simulator for Research and Education
Kevin Jamsahar, Adrian Wiltz, Maria Charitidou +1
This work presents a modular, Python-based simulator that simplifies the evaluation of novel vehicle control and coordination algorithms in complex traffic scenarios while keeping…
Decoupled Design of Time-Varying Control Barrier Functions via Equivariances
Adrian Wiltz, Dimos V. Dimarogonas
This article presents a systematic method for designing time-varying Control Barrier Functions (CBF) composed of a time-invariant component and multiple time-dependent components,…
On Uniformly Time-Varying Control Barrier Functions
Adrian Wiltz, Dimos V. Dimarogonas
This paper investigates the design of a subclass of time-varying Control Barrier Functions (CBFs), specifically that of uniformly time-varying CBFs. Leveraging the fact that CBFs e…
Leveraging Equivariances and Symmetries in the Control Barrier Function Synthesis
Adrian Wiltz, Dimos V. Dimarogonas
The synthesis of Control Barrier Functions (CBFs) often involves demanding computations or a meticulous construction. However, structural properties of the system dynamics and cons…
Predictive Synthesis of Control Barrier Functions and its Application to Time-Varying Constraints
Adrian Wiltz, Dimos V. Dimarogonas
This paper presents a systematic method for synthesizing a Control Barrier Function (CBF) that encodes predictive information into a CBF. Unlike other methods, the synthesized CBF…
Generating and Optimizing Topologically Distinct Guesses for Mobile Manipulator Path Planning with Path Constraints
Rufus Cheuk Yin Wong, Mayank Sewlia, Adrian Wiltz +1
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot…
From Time-Invariant to Uniformly Time-Varying Control Barrier Functions: A Constructive Approach
Adrian Wiltz, Dimos V. Dimarogonas
In this paper, we define and analyze a subclass of (time-invariant) Control Barrier Functions (CBF) that have favorable properties for the construction of uniformly timevarying CBF…
A Note on an Upper-Bound for the Sum of a Class K and an Extended Class K Function
Adrian Wiltz, Dimos V. Dimarogonas
In this short note, we derive an upper-bound for the sum of two comparison functions, namely for the sum of a class K and an extended class K function. To the best of our knowledge…
Decentralized Vehicle Coordination and Lane Switching without Switching of Controllers
Arno Frauenfelder, Adrian Wiltz, Dimos V. Dimarogonas
This paper proposes a controller for safe lane change manoeuvres of autonomous vehicles using high-order control barrier and Lyapunov functions. The inputs are calculated using a q…
Construction of Control Barrier Functions Using Predictions with Finite Horizon
Adrian Wiltz, Xiao Tan, Dimos V. Dimarogonas
In this paper, we show that under mild controllability assumptions a time-invariant Control Barrier Function (CBF) can be constructed based on predictions with a finite horizon. As…
A Consistency Constraint-Based Approach to Coupled State Constraints in Distributed Model Predictive Control
Adrian Wiltz, Fei Chen, Dimos V. Dimarogonas
In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints…
Handling Disjunctions in Signal Temporal Logic Based Control Through Nonsmooth Barrier Functions
Adrian Wiltz, Dimos V. Dimarogonas
For a class of spatio-temporal tasks defined by a fragment of Signal Temporal Logic (STL), we construct a nonsmooth time-varying control barrier function (CBF) and develop a contro…
Parallelized Robust Distributed Model Predictive Control in the Presence of Coupled State Constraints
Adrian Wiltz, Fei Chen, Dimos V. Dimarogonas
In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled st…