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cs.RO2026
SQ-CBF: Signed Distance Functions for Numerically Stable Superquadric-Based Safety Filtering
Haocheng Zhao, Lukas Brunke, Oliver Lagerquist +2
Ensuring safe robot operation in cluttered and dynamic environments remains a fundamental challenge. While control barrier functions provide an effective framework for real-time sa…
cs.RO2025
Improving Drone Racing Performance Through Iterative Learning MPC
Haocheng Zhao, Niklas Schlüter, Lukas Brunke +1
Autonomous drone racing presents a challenging control problem, requiring real-time decision-making and robust handling of nonlinear system dynamics. While iterative learning model…