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.MA2026
Multi-Defender Single-Attacker Perimeter Defense Game on a Cylinder: Special Case in which the Attacker Starts at the Boundary
Michael Otte, Roderich GroÃ
We describe a multi-agent perimeter defense game played on a cylinder. A team of n slow-moving defenders must prevent a single fast-moving attacker from crossing the boundary of a…
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…