5 papers · 1 filter
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…
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…
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…
Motion Planning for Hybrid Dynamical Systems: Framework, Algorithm Template, and a Sampling-based Approach
Nan Wang, Ricardo G. Sanfelice
This paper focuses on the motion planning problem for the systems exhibiting both continuous and discrete behaviors, which we refer to as hybrid dynamical systems. Firstly, the mot…
HyRRT-Connect: A Bidirectional Rapidly-Exploring Random Trees Motion Planning Algorithm for Hybrid 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…