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Designing Robust Linear Output Feedback Controller based on CLF-CBF framework via Linear~Programming(LP-CLF-CBF)
We consider the problem of designing output feedback controllers that use measurements from a set of landmarks to navigate through a cell-decomposable environment using duality, Control Lyapunov and Barrier Functions (CLF, CBF), and Linear Programming.
Control-Based Planning over Probability Mass Function Measurements via Robust Linear Programming
Using the strong duality of linear programs (LPs) and robust optimization, we convert the optimization problem to a linear program that can be efficiently solved offline.
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