3 papers
eess.SY2026
Distributed 3D Leader-Follower Formation Control with Field-of-View Safety via Control Barrier Functions
Immanuel R. Santjoko, Richie R. Suganda, Miao Pan +1
This letter proposes a distributed 3D leader-follower formation (3D-LFF) control framework for multi-UAV systems that achieves formation tracking while enforcing perception safety…
cs.RO2025
Design and Experimental Validation of Closed-Form CBF-Based Safe Control for Stewart Platform Under Multiple Constraints
Benedictus C. G. Cinun, Tua A. Tamba, Immanuel R. Santjoko +3
This letter presents a closed-form solution of Control Barrier Function (CBF) framework for enforcing safety constraints on a Stewart robotic platform. The proposed method simultan…
cs.RO2025
End-to-End Design and Validation of a Low-Cost Stewart Platform with Nonlinear Estimation and Control
Benedictus C. G. Cinun, Tua A. Tamba, Immanuel R. Santjoko +3
This paper presents the complete design, control, and experimental validation of a low-cost Stewart platform prototype developed as an affordable yet capable robotic testbed for re…