4 papers
Dynamic Constrained Stabilization on the n-sphere (Extended version)
Mayur Sawant, Abdelhamid Tayebi
We consider the constrained stabilization problem of second-order systems evolving on the n-sphere. We propose a control strategy with a constraint proximity-based dynamic damping…
Constrained Stabilization on the n-Sphere with Conic and Star-shaped Constraints
Mayur Sawant, Abdelhamid Tayebi
The problem of constrained stabilization on the n-sphere under star-shaped constraints is considered. We propose a control strategy that allows one to almost globally steer the sta…
From Kinematic Motion Planners to Dynamic Autonomous Navigation with Obstacle Avoidance (Extended version)
Mayur Sawant, Abdelhamid Tayebi
Kinematic motion planners are among the most widely used control approaches in robotic applications. By modeling the robot as a first-order system, they generate a feedback-based d…
N-dimensional Convex Obstacle Avoidance using Hybrid Feedback Control (Extended version)
Mayur Sawant, Ilia Polushin, Abdelhamid Tayebi
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with…