3 papers
cs.RO2026
Fast Path Planning for Autonomous Vehicle Parking with Safety-Guarantee using Hamilton-Jacobi Reachability
Xuemin Chi, Jun Zeng, Jihao Huang +2
We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a h…
cs.RO2025
Dynamic Collision Avoidance Using Velocity Obstacle-Based Control Barrier Functions
Jihao Huang, Jun Zeng, Xuemin Chi +3
Designing safety-critical controllers for acceleration-controlled unicycle robots is challenging, as control inputs may not appear in the constraints of control Lyapunov functions(…
cs.RO2025
Adaptive Learning-based Model Predictive Control Strategy for Drift Vehicles
Bei Zhou, Cheng Hu, Jun Zeng +4
Drift vehicle control offers valuable insights to support safe autonomous driving in extreme conditions, which hinges on tracking a particular path while maintaining the vehicle st…