3 papers
cs.RO2026
Exact Signed-Distance Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopes
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating polytopic environments while respecting the dynamics, control, and exact geometry of the underlying system is a challenge in robotics. Control barrier functions (…
cs.RO2026
Long-Horizon Geometry-Aware Navigation among Polytopes via MILP-MPC and Minkowski-Based CBFs
Yi-Hsuan Chen, Salman Ghori, Ania Adil +2
Autonomous navigation in complex, non-convex environments remains challenging when robot dynamics, control limits, and exact robot geometry must all be taken into account. In this…
cs.RO2025
Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets
Yi-Hsuan Chen, Shuo Liu, Wei Xiao +2
Safely navigating around obstacles while respecting the dynamics, control, and geometry of the underlying system is a key challenge in robotics. Control Barrier Functions (CBFs) ge…