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2020 – today
- 2023
[c4]Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. IROS 2023: 2723-2730- [i5]Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions. CoRR abs/2306.13259 (2023) - 2022
- [c3]Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. ACC 2022: 2239-2246 - [c2]Akshay Thirugnanam, Jun Zeng, Koushil Sreenath
:
Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions. ICRA 2022: 286-292 - [c1]Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath:
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. Robotics: Science and Systems 2022 - [i4]Zhongyu Li, Jun Zeng, Akshay Thirugnanam, Koushil Sreenath:
Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. CoRR abs/2205.05787 (2022) - [i3]Qiayuan Liao, Zhongyu Li, Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
Walking in Narrow Spaces: Safety-critical Locomotion Control for Quadrupedal Robots with Duality-based Optimization. CoRR abs/2212.14199 (2022) - 2021
- [i2]Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. CoRR abs/2107.08360 (2021) - [i1]Akshay Thirugnanam, Jun Zeng, Koushil Sreenath:
A Fast Computational Optimization for Optimal Control and Trajectory Planning for Obstacle Avoidance between Polytopes. CoRR abs/2109.12313 (2021)
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