3 accepted papers
This paper presents a novel collision avoidance method for general ellipsoids based on control barrier functions (CBFs) and separating hyperplanes. First, collision-free conditions for general ellipsoids are analytically derived using the concept of dual cones. These conditions are incorporated into
This paper proposes a GPU-accelerated optimization framework for collision avoidance problems where the controlled objects and the obstacles can be modeled as the finite union of convex polyhedra. A novel collision avoidance constraint is proposed based on scale-based collision detection and the str…
This paper addresses the challenge of optimal motion interpolation in multi-agent formation control. The primary goal is to generate trajectories of similarity transformations that minimize various metrics, such as distance traveled, kinetic energy consumption, and overall smoothness. The quaternion