Duality-based Convex Optimization for Real-time Obstacle Avoidance
between Polytopes with Control Barrier Functions

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Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions

18 July 2021

Koushil Sreenath

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Papers citing "Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions"

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Title
Collision-free Control Barrier Functions for General Ellipsoids via Separating Hyperplane Zeming Wu Lu Liu 17 0 0 27 May 2025
Navigating Polytopes with Safety: A Control Barrier Function Approach Tamas G. Molnar 72 0 0 22 May 2025
Control Barrier Functions via Minkowski Operations for Safe Navigation among Polytopic Sets Yi-Hsuan Chen Shuo Liu Wei Xiao C. Belta Michael Otte 112 1 0 01 Apr 2025
Polytope Volume Monitoring Problem: Formulation and Solution via Parametric Linear Program Based Control Barrier Function Shizhen Wu Jinyang Dong Xu Fang Ning Sun Yongchun Fang 140 0 0 16 Mar 2025
Optimization-free Smooth Control Barrier Function for Polygonal Collision Avoidance Shizhen Wu Yongchun Fang Ning Sun Biao Lu Xiao Liang Yiming Zhao 83 2 0 22 Feb 2025
Polygonal Cone Control Barrier Functions (PolyC2BF) for safe navigation in cluttered environments Manan Tayal Shishir Kolathaya 93 4 0 15 Nov 2023
Fast Path Planning for Autonomous Vehicle Parking with Safety-Guarantee using Hamilton-Jacobi Reachability Xuemin Chi Jun Zeng Jihao Huang Zhitao Liu Hongye Su 106 0 0 21 Oct 2023
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments Kehan Long Khoa Tran Melvin Leok Nikolay Atanasov 69 2 0 30 Sep 2023
Differentiable Optimization Based Time-Varying Control Barrier Functions for Dynamic Obstacle Avoidance Bolun Dai Rooholla Khorrambakht M. Ciocarlie Farshad Khorrami 102 4 0 29 Sep 2023
Collision Avoidance for Ellipsoidal Rigid Bodies with Control Barrier Functions Designed from Rotating Supporting Hyperplanes Riku Funada Koju Nishimoto Tatsuya Ibuki M. Sampei 50 3 0 23 Aug 2023
Efficient collision avoidance for autonomous vehicles in polygonal domains Jiayu Fan Nikolce Murgovski Jun Liang 44 2 0 17 Aug 2023
Reconfigurable Robot Control Using Flexible Coupling Mechanisms Sha Yi Katia Sycara F. Z. Temel 69 2 0 28 Jun 2023
Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems Jihao Huang Jun Zeng Xuemin Chi Koushil Sreenath Zhitao Liu Hongye Su 58 13 0 17 Apr 2023
Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions Shuo Liu Jun Zeng Koushil Sreenath C. Belta 156 21 0 09 Oct 2022
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions A. Thirugnanam Jun Zeng Koushil Sreenath 141 67 0 25 Sep 2021