3 papers
cs.RO2024
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
Kehan Long, Yinzhuang Yi, Zhirui Dai +3
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilisti…
math.OC2024
Continuous Approximations of Projected Dynamical Systems via Control Barrier Functions
Giannis Delimpaltadakis, Jorge Cortés, W. P. M. H. Heemels
Projected Dynamical Systems (PDSs) form a class of discontinuous constrained dynamical systems, and have been used widely to solve optimization problems and variational inequalitie…
eess.SY2024
Distributed Safe Navigation of Multi-Agent Systems using Control Barrier Function-Based Optimal Controllers
Pol Mestres, Carlos Nieto-Granda, Jorge Cortés
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance…