Fast and Safe Path-Following Control using a State-Dependent Directional Metric
Zhichao Li,Ömür Arslan,Nikolay Atanasov,Zhichao Li,Ömür Arslan,Nikolay Atanasov
This paper considers the problem of fast and safe autonomous navigation in partially known environments. Our main contribution is a control policy design based on ellipsoidal trajectory bounds obtained from a quadratic state-dependent distance metric. The ellipsoidal bounds are used to embed directional preference in the control design, leading to system behavior that is adapted to local environme...
