Zobrazeno 1 - 10
of 2 964
pro vyhledávání: '"Mestres P"'
This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible controllers. We intr
Externí odkaz:
http://arxiv.org/abs/2410.08364
Control barrier functions (CBFs) play a critical role in the design of safe optimization-based controllers for control-affine systems. Given a CBF associated with a desired ``safe'' set, the typical approach consists in embedding CBF-based constraint
Externí odkaz:
http://arxiv.org/abs/2409.06808
This paper proposes a control design approach for stabilizing nonlinear control systems. Our key observation is that the set of points where the decrease condition of a control Lyapunov function (CLF) is feasible can be regarded as a safe set. By lev
Externí odkaz:
http://arxiv.org/abs/2408.08398
This paper studies the dynamical properties of closed-loop systems obtained from control barrier function-based safety filters. We provide a sufficient and necessary condition for the existence of undesirable equilibria and show that the Jacobian mat
Externí odkaz:
http://arxiv.org/abs/2408.00958
Autor:
Mestres, Pol, Cortés, Jorge
Motivated by the key role of control barrier functions (CBFs) in assessing safety and enabling the synthesis of safe controllers in nonlinear control systems, this paper presents a suite of converse results on CBFs. Given any safe set, we first ident
Externí odkaz:
http://arxiv.org/abs/2406.14823
This paper proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control input for a
Externí odkaz:
http://arxiv.org/abs/2402.06195
This paper studies regularity properties of optimization-based controllers, which are obtained by solving optimization problems where the parameter is the system state and the optimization variable is the input to the system. Under a wide range of as
Externí odkaz:
http://arxiv.org/abs/2311.13167
This paper studies the well-posedness and regularity of safe stabilizing optimization-based controllers for control-affine systems in the presence of model uncertainty. When the system dynamics contain unknown parameters, a finite set of samples can
Externí odkaz:
http://arxiv.org/abs/2311.05813
Autor:
Mestres, Pol, Cortés, Jorge
This paper considers the problem of designing a dynamical system to solve constrained optimization problems in a distributed way and in an anytime fashion (i.e., such that the feasible set is forward invariant). For problems with separable objective
Externí odkaz:
http://arxiv.org/abs/2309.03174
This paper introduces a general approach for synthesizing procedural models of the state-transitions of a given discrete system. The approach is general in that it accepts different target languages for modeling the state-transitions of a discrete sy
Externí odkaz:
http://arxiv.org/abs/2307.14368