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eess.SY2026
Near-Optimal Constrained Feedback Control of Nonlinear Systems via Approximate HJB and Control Barrier Functions
Milad Alipour Shahraki, Laurent Lessard
This paper presents a two-stage framework for constrained near-optimal feedback control of input-affine nonlinear systems. An approximate value function for the unconstrained contr…
eess.SY2023
Model Predictive Planning: Trajectory Planning in Obstruction-Dense Environments for Low-Agility Aircraft
Matthew T. Wallace, Brett Streetman, Laurent Lessard
We present Model Predictive Planning (MPP), a trajectory planner for low-agility vehicles such as a fixed-wing aircraft to navigate obstacle-laden environments. MPP consists of (1)…