Related papers: Obstacle Avoidance via Hybrid Feedback
For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…
We present a hybrid feedback control framework for autonomous robot navigation in n-dimensional Euclidean spaces cluttered with spherical obstacles. The proposed approach ensures safe and global navigation towards a target location by…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space with a single spherical obstacle. The robot moves straight…
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability. A new hybrid control strategy is introduced, which differs conceptually from…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a desired destination, in a quasi-optimal manner, from almost all initial conditions in an n-dimensional Euclidean space cluttered with spherical…
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in avoiding each obstacle via the shortest path on the cone's…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…
We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
In the last years, a growing number of challenging applications in navigation, logistics, and tourism were modeled as orienteering problems. This problem has been proposed in relation to a sport race where certain control points must be…
This paper addresses the problem of safe autonomous navigation in unknown obstacle-filled environments using only local sensory information. We propose a smooth feedback controller derived from an unconstrained penalty-based formulation…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
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 robot converges to the path, it never leaves the path. Given…
Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the obstacle avoidance problem as an offline optimization…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a technique to distinguish dynamic obstacles from static ones with…