3 papers
cs.RO2026
A Ray Intersection Algorithm for Fast Growth Distance Computation Between Convex Sets
Akshay Thirugnanam, Koushil Sreenath
In this paper, we discuss an efficient algorithm for computing the growth distance between two compact convex sets with representable support functions. The growth distance between…
eess.SY2025
Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control
Akshay Thirugnanam, Koushil Sreenath
In this paper, we discuss incentive design for hierarchical model predictive control (MPC) systems viewed as Stackelberg games. We consider a hierarchical MPC formulation where, gi…
cs.RO2025
Control Barrier Functions for Collision Avoidance Between Strongly Convex Regions
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
In this paper, we focus on non-conservative collision avoidance between robots and obstacles with control affine dynamics and convex shapes. System safety is defined using the mini…