A QP-designed C^∞-smooth vector field paired with an analytic nonlinear controller enables safe, input-constrained unicycle navigation to goals with faster convergence and lower turning effort than baselines.
Turning circle-based control barrier function for efficient collision avoidance of nonholonomic vehicles
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Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles
A QP-designed C^∞-smooth vector field paired with an analytic nonlinear controller enables safe, input-constrained unicycle navigation to goals with faster convergence and lower turning effort than baselines.