Cover Image

Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Amiri, Aref, Sakcak, Basak, LaValle, Steven M.
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Smooth Feedback Motion Planning with Reduced Curvature
by: Amiri, Aref, et al.
Published: (2026)

Optimal Control of Sensor-Induced Illusions on Robotic Agents
by: Medici, Lorenzo, et al.
Published: (2025)

Mobile Robot Localization Using a Novel Whisker-Like Sensor
by: Routray, Prasanna K., et al.
Published: (2026)

Sharing but Not Caring: Similar Outcomes for Shared Control and Switching Control in Telepresence-Robot Navigation
by: Kalliokoski, Juho, et al.
Published: (2025)

Relating Reinforcement Learning to Dynamic Programming-Based Planning
by: Georgiev, Filip V., et al.
Published: (2026)

Minimally sufficient structures for information-feedback policies
by: Sakcak, Basak, et al.
Published: (2025)

Unwinding Rotations Reduces VR Sickness in Nonsimulated Immersive Telepresence
by: Kulisiewicz, Filip, et al.
Published: (2025)

Equivalent Environments and Covering Spaces for Robots
by: Weinstein, Vadim K., et al.
Published: (2024)

Universal Plans: One Action Sequence to Solve Them All!
by: Timperi, Kalle G., et al.
Published: (2024)

Localization with Single or Antipodal Distance Measurements
by: Ugav, Barak, et al.
Published: (2022)

An Internal Model Principle For Robots
by: Weinstein, Vadim K., et al.
Published: (2024)

Safe and Efficient Robot Action Planning in the Presence of Unconcerned Humans
by: Amiri, Mohsen, et al.
Published: (2025)

Limits of specifiability for sensor-based robotic planning tasks
by: Sakcak, Basak, et al.
Published: (2025)

Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres
by: Michaux, Jonathan, et al.
Published: (2024)

Collision-free Source Seeking Control Methods for Unicycle Robots
by: Li, Tinghua, et al.
Published: (2022)

Robot Swarm Control Based on Smoothed Particle Hydrodynamics for Obstacle-Unaware Navigation
by: Eguchi, Michikuni, et al.
Published: (2024)

Deformation of the panoramic sphere into an ellipsoid to induce self-motion in telepresence users
by: Laukka, Eetu, et al.
Published: (2025)

Reactive Planning based Control for Mobile Robots in Obstacle-Cluttered Environments
by: Tan, Li, et al.
Published: (2026)

Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles
by: Kiemel, Jonas, et al.
Published: (2024)

Mobius Transformation-Based Circular Motion Control for Unicycle Robots in Nonconcentric Circular Geofences
by: Singh, Shubham, et al.
Published: (2024)

Convergent iLQR for Safe Trajectory Planning and Control of Legged Robots
by: Zhu, James, et al.
Published: (2023)

Adaptive Obstacle-Aware Task Assignment and Planning for Heterogeneous Robot Teaming
by: Li, Nan, et al.
Published: (2025)

An Open-Source, Reproducible Tensegrity Robot that can Navigate Among Obstacles
by: Johnson III, William R., et al.
Published: (2025)

OA-MPC: Occlusion-Aware MPC for Guaranteed Safe Robot Navigation with Unseen Dynamic Obstacles
by: Firoozi, Roya, et al.
Published: (2022)

Sliding Mode Control for Safe Trajectory Tracking with Moving Obstacles Avoidance: Experimental Validation on Planar Robots
by: Sawarkar, Shubham, et al.
Published: (2026)

SafeFlow: Safe Robot Motion Planning with Flow Matching via Control Barrier Functions
by: Dai, Xiaobing, et al.
Published: (2025)

Distributed Coverage Control of Constrained Constant-Speed Unicycle Multi-Agent Systems
by: Liu, Qingchen, et al.
Published: (2023)

Conflict-Based Search and Prioritized Planning for Multi-Agent Path Finding Among Movable Obstacles
by: Hu, Shaoli, et al.
Published: (2025)

Model-Free and Real-Time Unicycle-Based Source Seeking with Differential Wheeled Robotic Experiments
by: Elgohary, Ahmed A., et al.
Published: (2025)

Robot Safe Planning In Dynamic Environments Based On Model Predictive Control Using Control Barrier Function
by: Lu, Zetao, et al.
Published: (2024)

Exploring Adversarial Obstacle Attacks in Search-based Path Planning for Autonomous Mobile Robots
by: Szvoren, Adrian, et al.
Published: (2025)

Path Integral Control with Rollout Clustering and Dynamic Obstacles
by: Patrick, Steven, et al.
Published: (2024)

Topological Motion Planning Diffusion: Generative Tangle-Free Path Planning for Tethered Robots in Obstacle-Rich Environments
by: Tian, Yifu, et al.
Published: (2026)

Safe Probabilistic Planning for Human-Robot Interaction using Conformal Risk Control
by: Gonzales, Jake, et al.
Published: (2026)

Unified Path and Gait Planning for Safe Bipedal Robot Navigation
by: Peng, Chengyang, et al.
Published: (2024)

SafeFlowMPC: Predictive and Safe Trajectory Planning for Robot Manipulators with Learning-based Policies
by: Oelerich, Thies, et al.
Published: (2026)

Allometric Scaling Laws for Bipedal Robots
by: Oke, Naomi, et al.
Published: (2026)

Multimodal Safe Control for Human-Robot Interaction
by: Pandya, Ravi, et al.
Published: (2023)

Gaussian Process Distance Fields Obstacle and Ground Constraints for Safe Navigation
by: Uttsha, Monisha Mushtary, et al.
Published: (2024)

Obstacle-Avoidant Leader Following with a Quadruped Robot
by: Scheidemann, Carmen, et al.
Published: (2024)