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cs.RO2024
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…
eess.SY2024
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…
eess.SY2024
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…