A reactive navigation algorithm uses quasi-conformal mappings to turn polyhedral obstacles into balls, then control barrier functions to keep the robot safe and deadlock-free.
Persistification of robotic tasks,
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Reactive Robot Navigation Using Quasi-conformal Mappings and Control Barrier Functions
A reactive navigation algorithm uses quasi-conformal mappings to turn polyhedral obstacles into balls, then control barrier functions to keep the robot safe and deadlock-free.