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