Revised Discrete Control Barrier Functions for Safe Control of a Redundant DoF ManipulatorThe control barrier function provides an efficient tool to ensure the safety of Human-robot interaction. In this paper, we represent the barrier function in the discrete-time form together with the control ...
Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot. The MPC-CBF optimization problem is given by: min u t : t + N − 1 ∣ t 1 2 x ~ N T Q x x ~ N + ∑ k = 0 N − 1 1 2 x ~ k T Q x x ~ k + 1 2 u...
Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot. - apr600/mpc-cbf
Discrete control barrier functions for safety-critical control of discrete systems with application to bipedal robot navigation 2017, Robotics: Science and Systems Stability regions of nonlinear dynamical systems: Theory, estimation, and applications 2015, Stability Regions of Nonlinear Dynamical Systems: The...
The paper investigates the fusion of reinforcement learning (RL) and control barrier functions (CBFs) for DT systems by considering Taylor expansion around operating point taking into account corresponding gradient(s) and Hessian(s) to develop a comprehensive approach for DT systems. To that end, ...
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A path integral approach to the evaluation of barrier options is developed. This leads to a backward recursion functional equation linking the pricing functions at successive barrier points. This functional equation is solved by expanding the pricing functions in Fourier-Hermite series. The backward ...
Their primary purpose involves delivering a superior performance where losses of the whole RF front end become critical due to long routing paths, for instance in WiFi architectures with 4 x 4 MIMO or 8 x 8 MIMO functions. Infineon's 8th generation RF SiGe Bipolar transistors act as an LNA,...
Barrier lyapunov functions-based command filtered output feedback control for full-state constrained nonlinear systems Automatica (2019)View more references Cited by (23) Finite-time stability of singular time-delay systems based on a new weighted integral inequality 2023, Journal of the Franklin Instit...
The simulation objects map the real physical objects (entities), while the events have potentially two functions: modify the state of a simulation object, or schedule future events. In DES, the events to be processed are maintained in a list or event calendar. We distinguish sequential and ...