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cs.RO2025
Extending First-order Robotic Motion Planners to Second-order Robot Dynamics
Mayur Sawant, Abdelhamid Tayebi
This paper extends first-order motion planners to robots governed by second-order dynamics. Two control schemes are proposed based on the knowledge of a scalar function whose negat…
cs.RO2024
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…