3 papers
eess.SY2025
Perception-Limited Smooth Safety Filtering
Lyes Smaili, Soulaimane Berkane
This paper develops a smooth safety-filtering framework for nonlinear control-affine systems under limited perception. Classical Control Barrier Function (CBF) filters assume globa…
eess.SY2025
A Smooth Penalty-Based Feedback Law for Reactive Obstacle Avoidance with Convergence Guarantees
Lyes Smaili, Soulaimane Berkane
This paper addresses the problem of safe autonomous navigation in unknown obstacle-filled environments using only local sensory information. We propose a smooth feedback controller…
eess.SY2025
Dissipative Avoidance Feedback for Reactive Navigation Under Second-Order Dynamics
Lyes Smaili, Zhiqi Tang, Soulaimane Berkane +1
This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (D…