Abstract: This paper presents a model predictive control (MPC) with recursive feasibility guarantees for robots with LiDAR sensory measurements. Control barrier functions (CBF) are incorporated within ...
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Abstract: The state-of-the-art quadratic-program-based control Lyapunov-barrier function (QP-CLBF) is a powerful control approach to balance safety and stability in an optimal fashion. However, under ...
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