Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions.
Akshay ThirugnanamJun ZengKoushil SreenathPublished in: ACC (2022)
Keyphrases
- convex optimization
- obstacle avoidance
- autonomous vehicles
- real time
- mobile robot
- path planning
- control system
- dual formulation
- interior point methods
- low rank
- convex programming
- primal dual
- total variation
- motion planning
- linear programming
- convex optimization problems
- fuzzy logic controller
- visually guided
- convex relaxation
- genetic algorithm
- robot control
- control strategy
- pairwise
- reinforcement learning
- operator splitting