Azwirman Gusrialdi — accepted AI-conference papers

2024

LiDAR-Based Online Control Barrier Function Synthesis for Safe Navigation in Unknown Environments

Shaghayegh Keyumarsi, Made Widhi Surya Atman, Azwirman Gusrialdi

RA-L 2024

This paper presents a novel extension of the Control Barrier Function (CBF) as the low-level safety controller for autonomous mobile robots navigating in unknown environments. The main challenges of implementing CBF in real-world situations arise from the absence of a model or the lack of an exact o

Cited by 29 Source ↗Scholar ↗

2024

Safety-Guaranteed Distributed Formation Control of Multi-Robot Systems Over Graphs With Rigid and Elastic Edges

Hoang Pham, Nadun Ranasinghe, Dong Le, Made Widhi Surya Atman, Azwirman Gusrialdi

RA-L 2024

This letter considers the problem of formation control of multi-robot systems represented by a graph featuring both rigid and elastic edges, capturing specified range tolerance to the desired inter-robot distances. The objective is to navigate the robots safely through unknown environments with obst

Cited by 7 Source ↗Scholar ↗