1 code implementation • 25 Mar 2023 • Songyuan Zhang, Yumeng Xiu, Guannan Qu, Chuchu Fan
Specifically, we treat a large networked dynamical system as an interconnection of smaller subsystems and develop methods that can find each subsystem a decentralized controller and an ISS Lyapunov function; the latter can be collectively composed to prove the global stability of the system.
1 code implementation • 20 Jan 2023 • Zhefan Xu, Baihan Chen, Xiaoyang Zhan, Yumeng Xiu, Christopher Suzuki, Kenji Shimada
Besides, our framework contains a novel dynamic map module that can simultaneously track dynamic obstacles and represent static obstacles based on an RGB-D camera.
1 code implementation • 17 Sep 2022 • Zhefan Xu, Xiaoyang Zhan, Baihan Chen, Yumeng Xiu, Chenhao Yang, Kenji Shimada
Although the popular voxel-based mapping methods can efficiently represent 3D obstacles with arbitrarily complex shapes, they can hardly distinguish between static and dynamic obstacles, leading to the limited performance of obstacle avoidance.
1 code implementation • 15 Sep 2022 • Zhefan Xu, Yumeng Xiu, Xiaoyang Zhan, Baihan Chen, Kenji Shimada
Although they have shown success in static environments, due to the limitation of map representation, those methods cannot reliably handle static and dynamic obstacles simultaneously.