Pol Mestres — accepted AI-conference papers

2026

Safe and Dynamically-Feasible Motion Planning Using Control Lyapunov and Barrier Functions

Pol Mestres, Carlos Nieto-Granda, Jorge Cortes

ICRA 2026poster

This paper considers the problem of designing motion planning algorithms for control-affine systems that generate collision-free paths from an initial to a final destination and can be executed using safe and dynamically-feasible controllers. We introduce the C-CLF-CBF-RRT algorithm, which produces …

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2024

Distributed Safe Navigation of Multi-Agent Systems Using Control Barrier Function-Based Controllers

Pol Mestres, Carlos Nieto-Granda, Jorge Cortés

RA-L 2024

This letter proposes a distributed controller synthesis framework for safe navigation of multi-agent systems. We leverage control barrier functions to formulate collision avoidance with obstacles and teammates as constraints on the control input for a state-dependent network optimization problem tha

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