A new alignment heuristic and star-shaped simplex chain construction for feedback motion planning reduces average path bending by 91.4% and LQR effort by 45.5% while remaining computationally efficient.
Triangle: Engineering a 2d quality mesh generator and delaunay triangulator
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A QP-designed C^∞-smooth vector field paired with an analytic nonlinear controller enables safe, input-constrained unicycle navigation to goals with faster convergence and lower turning effort than baselines.
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Smooth Feedback Motion Planning with Reduced Curvature
A new alignment heuristic and star-shaped simplex chain construction for feedback motion planning reduces average path bending by 91.4% and LQR effort by 45.5% while remaining computationally efficient.
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Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles
A QP-designed C^∞-smooth vector field paired with an analytic nonlinear controller enables safe, input-constrained unicycle navigation to goals with faster convergence and lower turning effort than baselines.