2 papers
math.OC2025
Self-sustained oscillations in discrete-time relay feedback systems
Kang Tong, Christian Grussler, Michelle S. Chong
We study the problem of determining self-sustained oscillations in discrete-time linear time-invariant relay feedback systems. Concretely, we are interested in predicting when such…
cs.RO2025
Nonconvex Obstacle Avoidance using Efficient Sampling-Based Distance Functions
Paul Lutkus, Michelle S. Chong, Lars Lindemann
We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental p…