3 papers
eess.SY2025
Learning-Enabled Iterative Convex Optimization for Safety-Critical Model Predictive Control
Shuo Liu, Zhe Huang, Jun Zeng +2
Safety remains a central challenge in control of dynamical systems, particularly when the boundaries of unsafe sets are complex (e.g., nonconvex, nonsmooth) or unknown. This paper…
cs.RO2025
IteraOptiRacing: A Unified Planning-Control Framework for Real-time Autonomous Racing for Iterative Optimal Performance
Yifan Zeng, Yihan Li, Suiyi He +2
This paper presents a unified planning-control strategy for competing with other racing cars called IteraOptiRacing in autonomous racing environments. This unified strategy is prop…
cs.RO2025
Control Barrier Functions for Collision Avoidance Between Strongly Convex Regions
Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
In this paper, we focus on non-conservative collision avoidance between robots and obstacles with control affine dynamics and convex shapes. System safety is defined using the mini…