CONTROL BARRIER
A. Thirugnanam, Junzeng, Andkoushilsreenath
· 1 citation
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Open access
Nov 2026
Control Barrier Functions for Collision Avoidance between Strongly Convex Regions
Abstract. In this paper, we focus on nonconservative, continuous-time collision avoidance between robots and obstacles with continuous control-affine dynamics and convex state-dependent safe regions using control barrier functions (CBFs). System safety is defined using the minimum distance between the safe regions ass...
A. Thirugnanam, Jun Zeng, K. Sreenath
· SIAM Journal of Control and... · 0 citations