A QP reformulation of DFL constraints with slack variables produces a singularity-free, locally Lipschitz feedback law for unicycle trajectory tracking.
A safe hybrid control framework for car-like robot with guaranteed globa l path- invariance using a control barrier function,
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A Relaxed Quadratic-Program-based Framework for Trajectory Tracking of Unicycle Robots with Singularity Avoidance
A QP reformulation of DFL constraints with slack variables produces a singularity-free, locally Lipschitz feedback law for unicycle trajectory tracking.