Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot. - apr600/mpc-cbf
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...
The 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 Lyapunov function for safety operation in human-robot coexisting environment. And we apply it...
Hence, the safe RL for the FC games of discrete-time multi-player systems with partial state and control constraints will be the research topic in this paper. More recently, control barrier functions (CBFs) [29] have been widely used to design controllers with state constraints, which achieve...
We then fit piecewise affine (PWA) separation functions among these clusters to form Kupdated partitions of the design space. Within each partition, a PWA surrogate function is fitted to make predictions. We conducted a comparative study to evaluate the effectiveness of the PWA surrogate function ...
Control barrier functionsDeadlock preventionMulti-robot systemsMulti-agent systemsWe present an approach to ensure safe and deadlock-free navigation for decentralized multi-robot systems operating in constrained environments, including doorways and intersections. Although many solutions have been proposed that...
This paper addresses the formation tracking control problem for discrete-time first-order agents moving along superellipse orbits in the presence of unknown spatial flowfields. Note that there are position constraints by using the geometric extension method. A novel iterative barrier function is designed...
To some degree, this method is immune to noise in the objective function. While this method was designed to be applied to continuous functions, it is immune to discontinuities, and it can solve problems that utilize parameter value rounding (integer parameters). This method usually can't accepta...
wiring rocm management library functions in /opt/rocm/lib/librocm_smi64.so.1.0 dlsym: rsmi_init dlsym: rsmi_shut_down dlsym: rsmi_dev_memory_total_get dlsym: rsmi_dev_memory_usage_get dlsym: rsmi_version_get dlsym: rsmi_num_monitor_devices ...
Constrained SystemControl Barrier FunctionDiscrete time systemsFor engine control systems, there are several constraints to prevent damages of engines due to bad phenomena, eg. knocking. When the dynamics of the systems are modeled as state space representations, the constraints can be represented as ...