research
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07/17/2023
Obstacle Avoidance for Unicycle-Modelled Mobile Robots with Time-varying Control Barrier Functions
In this paper, we propose a safety-critical controller based on time-var...
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04/17/2023
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
Obstacle avoidance for multi-robot navigation with polytopic shapes is c...
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10/24/2022
Optimization-Based Motion Planning for Autonomous Parking Considering Dynamic Obstacle: A Hierarchical Framework
We present a hierarchical framework based on graph search and model pred...
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10/17/2022