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cs.RO2025
Time-Varying Soft-Maximum Barrier Functions for Safety in Unmapped and Dynamic Environments
Amirsaeid Safari, Jesse B. Hoagg
We present a closed-form optimal feedback control method that ensures safety in an a prior unknown and potentially dynamic environment. This article considers the scenario where lo…
cs.RO2025
Safe Navigation in Unmapped Environments for Robotic Systems with Input Constraints
Amirsaeid Safari, Jesse B. Hoagg
This paper presents an approach for navigation and control in unmapped environments under input and state constraints using a composite control barrier function (CBF). We consider…