2 papers
eess.SY2025
Target Enclosing Control for Nonholonomic Multi-Agent Systems with Connectivity Maintenance and Collision Avoidance
Boyin Zheng, Yahui Hao, Lu Liu
This article addresses the moving target enclosing control problem for nonholonomic multi-agent systems with guaranteed network connectivity and collision avoidance. We propose a n…
cs.RO2025
Collision-free Control Barrier Functions for General Ellipsoids via Separating Hyperplane
Zeming Wu, Lu Liu
This paper presents a novel collision avoidance method for general ellipsoids based on control barrier functions (CBFs) and separating hyperplanes. First, collision-free conditions…