Avoiding dense and dynamic obstacles in enclosed spaces: Application to moving in crowds
This article presents a closed-form approach to constraining a flow within a given volume
and around objects. The flow is guaranteed to converge and to stop at a single fixed point …
and around objects. The flow is guaranteed to converge and to stop at a single fixed point …
Hybrid feedback for autonomous navigation in planar environments with convex obstacles
We develop an autonomous navigation algorithm for a robot operating in two-dimensional
environments cluttered with obstacles having arbitrary convex shapes. The proposed …
environments cluttered with obstacles having arbitrary convex shapes. The proposed …
Plug-and-play cooperative navigation: From single-agent navigation fields to graph-maintaining distributed mas controllers
A class of closed-form distributed controllers achieving leader-following in a multi-agent
system (MAS) with distance-limited communications in a compact obstructed environment is …
system (MAS) with distance-limited communications in a compact obstructed environment is …
Feedback control for collision-free nonholonomic vehicle navigation on SE (2) with null space circumvention
In this article, we present a novel feedback controller for the collision-free navigation of a
class of nonholonomic vehicles based on navigation functions in convex environment. This …
class of nonholonomic vehicles based on navigation functions in convex environment. This …
Local navigation-like functions for safe robot navigation in bounded domains with unknown convex obstacles
In this paper, we propose a controller that stabilizes a holonomic robot with single-integrator
dynamics to a target position in a bounded domain, while preventing collisions with convex …
dynamics to a target position in a bounded domain, while preventing collisions with convex …
Hybrid feedback for autonomous navigation in environments with arbitrary convex obstacles
We develop an autonomous navigation algorithm for a robot operating in two-dimensional
environments cluttered with obstacles having arbitrary convex shapes. The proposed …
environments cluttered with obstacles having arbitrary convex shapes. The proposed …
Navigation Functions on 3-Manifold with Boundary as A Disjoint Union of Hopf Tori
Y Liu, Q Hu, G Feng - IEEE Transactions on Automatic Control, 2024 - ieeexplore.ieee.org
This paper concerns the construction of a scalar valued analytic map, which we term as the
navigation function, on 3-manifold with boundary as a disjoint union of Hopf tori. Although it …
navigation function, on 3-manifold with boundary as a disjoint union of Hopf tori. Although it …
Collision avoidance and rendezvous of quadric surfaces moving on planar environments
Achieving collision avoidance or rendezvous between moving objects are important
objectives in robotic systems. In performing collision avoidance or rendezvous maneuvers …
objectives in robotic systems. In performing collision avoidance or rendezvous maneuvers …
Distributed cooperative navigation with communication graph maintenance using single-agent navigation fields
A method is developed for bootstrapping a provided navigation field for a single mobile point
agent in a compact obstructed environment to form a distributed controller for a leader …
agent in a compact obstructed environment to form a distributed controller for a leader …
Using conformal navigation transformations for robot navigation in complex polygonal workspaces
L Fan, J Liu, W Zhang - … Transactions on Circuits and Systems II …, 2023 - ieeexplore.ieee.org
This brief proposes a novel method for collision-free robot navigation in arbitrary polygonal
workspaces by introducing a new transformation called the conformal navigation …
workspaces by introducing a new transformation called the conformal navigation …