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- W4294692105 abstract "Developing controllers for obstacle avoidance between polytopes is a challenging and necessary problem for navigation in tight spaces. Traditional approaches can only formulate the obstacle avoidance problem as an offline optimization problem. To address these challenges, we propose a duality-based safety-critical optimal control using nonsmooth control barrier functions for obstacle avoidance between polytopes, which can be solved in real-time with a QP-based optimization problem. A dual optimization problem is introduced to represent the minimum distance between polytopes and the Lagrangian function for the dual form is applied to construct a control barrier function. We validate the obstacle avoidance with the proposed dual formulation for L-shaped (sofa-shaped) controlled robot in a corridor environment. We demonstrate real-time tight obstacle avoidance with non-conservative maneuvers on a moving sofa (piano) problem with nonlinear dynamics." @default.
- W4294692105 created "2022-09-06" @default.
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- W4294692105 date "2022-06-08" @default.
- W4294692105 modified "2023-10-16" @default.
- W4294692105 title "Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions" @default.
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- W4294692105 doi "https://doi.org/10.23919/acc53348.2022.9867246" @default.
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