Akshay Thirugnanam
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Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions
A Thirugnanam, J Zeng, K Sreenath
2022 IEEE International Conference on Robotics and Automation (ICRA), 2022
Duality-based convex optimization for real-time obstacle avoidance between polytopes with control barrier functions
A Thirugnanam, J Zeng, K Sreenath
2022 American Control Conference (ACC), 2239-2246, 2022
Walking in narrow spaces: Safety-critical locomotion control for quadrupedal robots with duality-based optimization
Q Liao, Z Li, A Thirugnanam, J Zeng, K Sreenath
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2023
Bridging model-based safety and model-free reinforcement learning through system identification of low dimensional linear models
Z Li, J Zeng, A Thirugnanam, K Sreenath
arXiv preprint arXiv:2205.05787, 2022
Nonsmooth control barrier functions for obstacle avoidance between convex regions
A Thirugnanam, J Zeng, K Sreenath
arXiv preprint arXiv:2306.13259, 2023
Robust Hybrid Systems Differential Dynamic Programming for Worst-Case Disturbance
P Mohnot, A Thirugnanam, JJ Choi, K Sreenath
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