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07/11/2022
Safe Drone Flight with Time-Varying Backup Controllers
The weight, space, and power limitations of small aerial vehicles often ...
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05/02/2022
Safety-Critical Manipulation for Collision-Free Food Preparation
Recent advances allow for the automation of food preparation in high-thr...
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01/12/2022
Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions
This paper details the theory and implementation behind practically ensu...
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10/03/2021
Mixed Observable RRT: Multi-Agent Mission-Planning in Partially Observable Environments
This paper considers centralized mission-planning for a heterogeneous mu...
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11/19/2020
Lidar-based exploration and discretization for mobile robot planning
In robotic applications, the control, and actuation deal with a continuo...
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10/19/2020
Comparative Analysis of Control Barrier Functions and Artificial Potential Fields for Obstacle Avoidance
Artificial potential fields (APFs) and their variants have been a staple...
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06/01/2020
Nonlinear Model Predictive Control of Robotic Systems with Control Lyapunov Functions
The theoretical unification of Nonlinear Model Predictive Control (NMPC)...
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03/19/2020
Barrier Functions for Multiagent-POMDPs with DTL Specifications
Multi-agent partially observable Markov decision processes (MPOMDPs) pro...
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12/20/2019
Learning for Safety-Critical Control with Control Barrier Functions
Modern nonlinear control theory seeks to endow systems with properties o...
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09/23/2019
Optimal Motion Planning for Multi-Modal Hybrid Locomotion
Hybrid locomotion, which combines multiple modalities of locomotion with...
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03/19/2019