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10/09/2022
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions
Safety is one of the fundamental challenges in control theory. Recently,...
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02/12/2021
High Order Control Lyapunov-Barrier Functions for Temporal Logic Specifications
Recent work has shown that stabilizing an affine control system to a des...
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08/17/2020
Bridging the Gap between Optimal Trajectory Planning and Safety-Critical Control with Applications to Autonomous Vehicles
We address the problem of optimizing the performance of a dynamic system...
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12/06/2019