4 citations · 4 across the 3 of their papers we have counts for
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cs.RO2023★ 4 cited
LQR-CBF-RRT*: Safe and Optimal Motion Planning
Guang Yang, Mingyu Cai, Ahmad Ahmad +3
We present LQR-CBF-RRT*, an incremental sampling-based algorithm for offline motion planning. Our framework leverages the strength of Control Barrier Functions (CBFs) and Linear Qu…
cs.RO2022
Adaptive Sampling-based Motion Planning with Control Barrier Functions
Ahmad Ahmad, Calin Belta, Roberto Tron
Sampling-based algorithms, such as Rapidly Exploring Random Trees (RRT) and its variants, have been used extensively for motion planning. Control barrier functions (CBFs) have been…