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08/21/2023
Decentralized Multi-Robot Social Navigation in Constrained Environments via Game-Theoretic Control Barrier Functions
We present an approach to ensure safe and deadlock-free navigation for d...
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12/01/2022
Distributed Model Predictive Covariance Steering
This paper proposes Distributed Model Predictive Covariance Steering (DM...
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02/18/2022
Smooth time optimal trajectory generation for drones
In this paper, we address a minimum-time steering problem for a drone mo...
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01/13/2022
Neural Koopman Lyapunov Control
Learning and synthesizing stabilizing controllers for unknown nonlinear ...
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07/15/2021
Collision Avoidance Using Spherical Harmonics
In this paper, we propose a novel optimization-based trajectory planner ...
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07/08/2021
Distributed Coverage Control of Multi-Agent Networks with Guaranteed Collision Avoidance in Cluttered Environments
We propose a distributed control algorithm for a multi-agent network who...
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06/25/2021
Collision Avoidance for Unmanned Aerial Vehicles in the Presence of Static and Moving Obstacles
This paper presents a new collision avoidance procedure for unmanned aer...
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03/25/2021
On the Convexity of Discrete Time Covariance Steering in Stochastic Linear Systems with Wasserstein Terminal Cost
In this work, we analyze the properties of the solution to the covarianc...
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09/18/2020
Decentralized Game-Theoretic Control for Dynamic Task Allocation Problems for Multi-Agent Systems
We propose a decentralized game-theoretic framework for dynamic task all...
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09/13/2020
MPC-Based Hierarchical Task Space Control of Underactuated and Constrained Robots for Execution of Multiple Tasks
This paper proposes an MPC-based controller to efficiently execute multi...
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03/26/2019
Efficient Trajectory Generation for Robotic Systems Constrained by Contact Forces
In this work, we propose a trajectory generation method for robotic syst...
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09/27/2018