Safety-Critical Control of Nonholonomic Vehicles in Dynamic Environments using Velocity Obstacles

no code implementations • 1 Oct 2023 • Aurora Haraldsen, Martin S. Wiig, Aaron D. Ames, Kristin Y. Pettersen

This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments.

Collision Avoidance

Singularity-free Formation Path Following of Underactuated AUVs: Extended Version

no code implementations • 26 Oct 2022 • Josef Matouš, Kristin Y. Pettersen, Damiano Varagnolo, Claudio Paliotta

This paper proposes a method for formation path following control of a fleet of underactuated autonomous underwater vehicles.

Collision Avoidance

Formation Path Following Control of Underactuated AUVs -- With Proofs

no code implementations • 5 Nov 2021 • Josef Matouš, Kristin Y. Pettersen, Claudio Paliotta

This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles.

Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs

no code implementations • 21 Jan 2020 • Erlend A. Basso, Kristin Y. Pettersen

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).