5 accepted papers
Level set methods underpin modern safety techniques such as control barrier functions (CBFs), while also serving as implicit surface representations for geometric shapes via distance fields. Inspired by these two paradigms, we propose a unified framework where the implicit surface itself acts as a C…
This paper presents novel quadrotor structures composed of only clockwise rotors. A multirotor unmanned aerial vehicle (UAV) generally has both clockwise and counterclockwise rotors to counteract the torques from the rotors. While the proposed structures have only clockwise rotors, those rotors are…
This paper presents a method for biped gait generation along a predefined curve with fully stretched knees. First, we design a spatial gait pattern as a function of the traveled distance on the path without considering dynamics. Then, a consistent dynamic walking motion is obtained by optimization t…
For a dynamical system, safety is typically guaranteed by constraining the system states within a set defined a priori. A popular approach is to use control barrier functions (CBFs) that encode safety using a smooth function. However, typical constructions of the smooth function do not account for a…
This letter considers distributed flocking control on the Special Euclidean group for networked rigid bodies. The method captures the three flocking rules proposed by Reynolds: cohesion; alignment; and separation. The proposed controller is based only on relative pose (position and attitude) informa