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Serial interconnections of 1-contracting and 2-contracting systems
(IEEE, 2021-12-14)The flow of contracting systems contracts 1dimensional polygons (i.e. lines) at an exponential rate. One reason for the usefulness of contracting systems is that many interconnections of contracting sub-systems yield an ... -
Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds
(Institute of Electrical and Electronics Engineers, 2022-10)This article presents a closed-form approach to constraining a flow within a given volume and around objects. The flow is guaranteed to converge and to stop at a single fixed point. The obstacle avoidance problem is inverted ... -
Optimizing Trajectories with Closed-Loop Dynamic SQP
(IEEE, 2022-05-23)Indirect trajectory optimization methods such as Differential Dynamic Programming (DDP) have found considerable success when only planning under dynamic feasibility constraints. Meanwhile, nonlinear programming (NLP) has ...
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