1 citations · 1 across the 3 of their papers we have counts for
3 papers
Safe and robust tube-based path-following for robot navigation
Arthur H. D. Nunes, Vinicius M. Gonçalves, Guilherme V. Raffo +2
In this paper, we propose a new robust navigation framework for path following tasks in robots operating within unknown, cluttered environments. Our approach ensures reactive safet…
Point-to-Cloud NMPC with Smooth Avoidance Constraints
Brener G. Ferreira, Vinicius M. Gonçalves, Marcelo A. Santos +1
This paper proposes a finite-horizon optimal control strategy for set-point tracking using a nonlinear model predictive control framework with integrated avoidance capabilities. Th…
Using Circulation to Mitigate Spurious Equilibria in Control Barrier Function -- Extended Version
Vinicius Mariano Goncalves, Prashanth Krishnamurthy, Anthony Tzes +1
Control Barrier Functions and Quadratic Programming are increasingly used for designing controllers that consider critical safety constraints. However, like Artificial Potential Fi…