3 papers
cs.RO2025
Hybrid Feedback Control for Global Navigation with Locally Optimal Obstacle Avoidance in n-Dimensional Spaces
Ishak Cheniouni, Soulaimane Berkane, Abdelhamid Tayebi
We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures s…
eess.SY2024
Safe and Quasi-Optimal Autonomous Navigation in Environments with Convex Obstacles
Ishak Cheniouni, Soulaimane Berkane, Abdelhamid Tayebi
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in a…
eess.SY2024
Hybrid Feedback Control for Global and Optimal Safe Navigation
Ishak Cheniouni, Soulaimane Berkane, Abdelhamid Tayebi
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space…