Collision Avoidance for Convex Primitives via Differentiable Optimization-Based High-Order Control Barrier Functions

S. Wei; Rooholla Khorrambakht; P. Krishnamurthy; Vinícius Mariano Gonçalves; Farshad Khorrami

doi:10.1109/tcst.2025.3595751

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Collision Avoidance for Convex Primitives via Differentiable Optimization-Based High-Order Control Barrier Functions

S. Wei Rooholla Khorrambakht P. Krishnamurthy Vinícius Mariano Gonçalves Farshad Khorrami

Year: 2025 Journal: IEEE Transactions on Control Systems Technology Vol: 34 (1)Pages: 3-18 Publisher: Institute of Electrical and Electronics Engineers

DOI: 10.1109/tcst.2025.3595751

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Keywords:

Differentiable function Collision avoidance Regular polygon Convex optimization Mathematical optimization Computer science Order (exchange) Control (management) Control theory (sociology) Mathematics Collision Pure mathematics Artificial intelligence Geometry Business

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Collision Avoidance for Convex Primitives via Differentiable Optimization-Based High-Order Control Barrier Functions

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