Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions
Author:
Affiliation:
1. UC Berkeley,Hybrid Robotics Group at the Department of Mechanical-Engineering,USA
Funder
National Science Foundation
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9866948/9867142/09867246.pdf?arnumber=9867246
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5. Optimization-based collision avoidance;zhang;IEEE Transactions on Control Systems Technology,2020
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