相关论文: Safe and Quasi-Optimal Autonomous Navigation in Sp…

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…

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…

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…

In this paper we present a hybrid feedback approach to solve the navigation problem of a point mass in the n-dimensional space containing an arbitrary number of ellipsoidal shape obstacles. The proposed hybrid control algorithm guarantees…

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…

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 cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…

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…

The problem of constrained stabilization on the n-sphere under star-shaped constraints is considered. We propose a control strategy that allows to almost globally steer the state to a desired location while avoiding star-shaped constraints…

Navigating toward a known target in a noisy environment is a fundamental problem shared across biological, physical, and engineered systems. Although optimal strategies are often framed in terms of continuous, fine-grained feedback, we show…

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…

We revisit the Safety Velocity Cones (SVCs) obstacle avoidance approach for real-time autonomous navigation in an unknown $n$-dimensional environment. We propose a locally Lipschitz continuous implementation of the SVC controller using the…

This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, considering input limits. We introduce a novel QP formulation to…

This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \emph{ball world}, an artificial representation…

This paper considers the problem of fast and safe autonomous navigation in partially known environments. Our main contribution is a control policy design based on ellipsoidal trajectory bounds obtained from a quadratic state-dependent…

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 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…

We rely on Nagumo's invariance theorem to develop a new approach for navigation in unknown environments of arbitrary dimension. The idea consists in projecting the nominal velocities (that would drive the robot to the target in the absence…

This brief proposes a quasi time-fuel optimal control strategy to solve the dynamic tracking problem of unmanned systems when fuel and control input are limited. This kind of motion planning and control strategy could bring the biggest…

This paper proposes a coordinate-free controller for a nonholonomic vehicle to circumnavigate a fully-actuated moving target by using range-only measurements. If the range rate is available, our Proportional Derivative (PD)-like controller…