3 papers
eess.SY2026
Periodic Event-Triggered Explicit Reference Governor for Constrained Attitude Control on SO(3)
Satoshi Nakano, Masahiro Suzuki, Misa Ohashi +2
This letter addresses the constrained attitude control problem for rigid bodies directly on the special orthogonal group SO(3), avoiding singularities associated with parameterizat…
eess.SY2026
Optimization-Free Constrained Control with Guaranteed Recursive Feasibility: A CBF-Based Reference Governor Approach
Satoshi Nakano, Emanuele Garone, Gennaro Notomista
This letter presents a constrained control framework that integrates Explicit Reference Governors (ERG) with Control Barrier Functions (CBF) to ensure recursive feasibility without…
cs.RO2025
Ground and Flight Locomotion for Two-Wheeled Drones via Model Predictive Path Integral Control
Gosuke Kojima, Kohei Honda, Satoshi Nakano +1
This paper presents a novel approach to motion planning for two-wheeled drones that can drive on the ground and fly in the air. Conventional methods for two-wheeled drone motion pl…