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Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems.
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2016
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2017
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2018
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2018
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J. Zeng, P. Kotaru, M. W. Mueller, and K. Sreenath, “Differential flatness based path planning with direct collocation on hybrid modes for a quadrotor with a cable-suspended payload,” IEEE Robotics and Automation Letters , vol. 5, no. 2, pp. 3074–3081, 2020
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J. Zeng, B. Zhang, and K. Sreenath, “Safety-critical model predictive control with discrete-time control barrier function,” in 2021 American Control Conference (ACC) . IEEE, 2021, pp. 3882–3889
2021
Closest in time.
X. Shen, E. L. Zhu, Y. R. Stürz, and F. Borrelli, “Collision avoidance in tightly-constrained environments without coordination: a hierarchical control approach,” in 2021 IEEE International Conference on Robotics and Automation (ICRA) , 2021, pp. 2674–2680
2021
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S. Gilroy, D. Lau, L. Yang, E. Izaguirre, K. Biermayer, A. Xiao, M. Sun, A. Agrawal, J. Zeng, Z. Li, and K. Sreenath, “Autonomous navigation for quadrupedal robots with optimized jumping through constrained obstacles,” in 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE) , 2021, pp. 2132–2139
2021
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2021
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J. Zeng, Z. Li, and K. Sreenath, “Enhancing feasibility and safety of nonlinear model predictive control with discrete-time control barrier functions,” in 2021 IEEE Conference on Decision and Control (CDC) . IEEE, 2021
2021
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H. Ma, J. Chen, S. Eben, Z. Lin, Y. Guan, Y. Ren, and S. Zheng, “Model-based constrained reinforcement learning using generalized control barrier function,” in 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2021, pp. 4552–4559
2021
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