Showing 2025Show all
2 papers · 1 filter
math.OC2025
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…
cs.RO2025
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…