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Control Barrier Function Augmentation in Sampling-based Control Algorithm for Sample Efficiency
For a nonlinear stochastic path planning problem, sampling-based algorithms generate thousands of random sample trajectories to find the optimal path while guaranteeing safety by Lagrangian penalty methods.
Backup Plan Constrained Model Predictive Control
To incorporate this new safety concept in control problems, we formulate a feasibility maximization problem that adopts additional (virtual) input horizons toward the alternative missions on top of the input horizon toward the primary mission.
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