2 papers
eess.SY2025
Risk-Aware Trajectory Optimization and Control for an Underwater Suspended Robotic System
Yuki Origane, Nicolas Hoischen, Tzu-Yuan Huang +3
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for…
cs.RO2023
Asymmetric Design of Control Barrier Function for Multiagent Autonomous Robotic Systems
Hiroki Etchu, Yuki Origane, Daisuke Kurabayashi
In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic sy…