Related papers: Collision Avoidance for Elliptical Agents with Con…
This paper proposes a collision avoidance method for ellipsoidal rigid bodies, which utilizes a control barrier function (CBF) designed from a supporting hyperplane. We formulate the problem in the Special Euclidean Group SE(2) and SE(3),…
This paper proposes a new set of conditions for exactly representing collision avoidance constraints within optimization-based motion planning algorithms. The conditions are continuously differentiable and therefore suitable for use with…
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…
This paper presents a novel collision avoidance method for general ellipsoids based on control barrier functions (CBFs) and separating hyperplanes. First, collision-free conditions for general ellipsoids are analytically derived using the…
This manuscript presents a control barrier function based approach to shared control for preventing a vehicle from entering the part of the state space where it is unrecoverable. The maximal phase recoverable ellipse is presented as a safe…
This paper considers a two-dimensional persistent monitoring problem by controlling movements of second-order agents to minimize some uncertainty metric associated with targets in a dynamic environment. In contrast to common sensing models…
This paper considers a pursuit-evasion scenario among three agents -- an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike…
We propose a Model Predictive Control (MPC) for collision avoidance between an autonomous agent and dynamic obstacles with uncertain predictions. The collision avoidance constraints are imposed by enforcing positive distance between convex…
Online planning of collision-free trajectories is a fundamental task for robotics and self-driving car applications. This paper revisits collision avoidance between ellipsoidal objects using differentiable constraints. Two ellipsoids do not…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
This paper introduces a novel NMPC formulation for real-time obstacle avoidance on heavy equipment by modeling both vehicle and obstacles as convex superellipsoids. The combination of this approach with the separating hyperplane theorem and…
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…
This paper presents an algorithm for local motion planning in environments populated by moving elliptical obstacles whose velocity, shape and size are fully known but may change with time. We base the algorithm on a collision avoidance…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…
In this article we introduce a variational approach to collision avoidance of multiple agents evolving on a Riemannian manifold and derive necessary conditions for extremals. The problem consists of finding non-intersecting trajectories of…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
This paper investigates the difference between the circular and elliptical cases in one-on-one pursuit and evasion problems. Using the simultaneous differential equation derived by Barton and Eliezer, we derive a dynamical system based on…
This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender…