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06/23/2023
Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions
In this paper, we focus on non-conservative obstacle avoidance between r...
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12/29/2022
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization
This paper presents a safety-critical locomotion control framework for q...
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05/11/2022
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models
Bridging model-based safety and model-free reinforcement learning (RL) f...
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09/25/2021
A Fast Computational Optimization for Control and Trajectory Planning for Obstacle Avoidance between Polytopes
Obstacle avoidance between polytopes is a challenging topic for optimal ...
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07/18/2021