Fast and Safe Path-Following Control using a State-Dependent Directional Metric

@article{Li2020FastAS,
  title={Fast and Safe Path-Following Control using a State-Dependent Directional Metric},
  author={Zhichao Li and Omur Arslan and Nikolay Todorov Atanasov},
  journal={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2020},
  pages={6176-6182}
}
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 environment geometry, carefully considering medial obstacles while paying less attention to lateral ones. We… 

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