3 papers
cs.RO2025
cHyRRT and cHySST: Two Motion Planning Tools for Hybrid Dynamical Systems
Beverly Xu, Nan Wang, Ricardo Sanfelice
This paper presents two implementations of the recently developed motion planning algorithms HyRRT arXiv:2210.1508(2) and HySST arXiv:2305.1864(9). Specifically, cHyRRT, an impleme…
cs.RO2025
HyRRT-Connect: Bidirectional Motion Planning for Hybrid Dynamical Systems
Nan Wang, Ricardo G. Sanfelice
This paper proposes a bidirectional rapidly-exploring random trees (RRT) algorithm to solve the motion planning problem for hybrid systems. The proposed algorithm, called HyRRT-Con…
cs.RO2025
A Safe Hybrid Control Framework for Car-like Robot with Guaranteed Global Path-Invariance using a Control Barrier Function
Nan Wang, Adeel Akhtar, Ricardo G. Sanfelice
This work proposes a hybrid framework for car-like robots with obstacle avoidance, global convergence, and safety, where safety is interpreted as path invariance, namely, once the…