Zobrazeno 1 - 10
of 315
pro vyhledávání: '"Pettersen, Kristin Y."'
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) to synthesize control
Externí odkaz:
http://arxiv.org/abs/2310.00713
This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles. The proposed method combines several hierarchic tasks in a null space-based behavioral algorithm to safely guide the vehicle
Externí odkaz:
http://arxiv.org/abs/2210.14646
This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow curved path
Externí odkaz:
http://arxiv.org/abs/2111.03455
Publikováno v:
In European Journal of Control June 2024
Publikováno v:
IFAC-PapersOnLine 53-2 (2020) 9037-9044
This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method guarantees strict
Externí odkaz:
http://arxiv.org/abs/2001.07547
Akademický článek
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Publikováno v:
In Proc. IEEE 58th Conference on Decision and Control (CDC), 2019, pp. 8329-8334
In this work, the control of snake robot locomotion via economic model predictive control (MPC) is studied. Only very few examples of applications of MPC to snake robots exist and rigorous proofs for recursive feasibility and convergence are missing.
Externí odkaz:
http://arxiv.org/abs/1909.00795
Autor:
D'Antuono, Gianluca, Pettersen, Kristin Y., Buonocore, Luca R., Gravdahl, Jan Tommy, Castro, Mario Di
Publikováno v:
In IFAC PapersOnLine 2023 56(2):11639-11644
Publikováno v:
In IFAC PapersOnLine 2023 56(2):6731-6738
Autor:
Iversflaten, Markus H. *, Sæbø, Bjørn Kåre *, Basso, Erlend A. *, Pettersen, Kristin Y. *, Gravdahl, Jan Tommy *
Publikováno v:
In IFAC PapersOnLine 2023 56(2):6703-6709