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Creators/Authors contains: "Rivera, Phillip"

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  1. ; ; (, IEEE Transactions on Automatic Control)
    Scalable pursuer coordination for reach-avoid games against a fast evader are developed leveraging coverage control over manifolds. The maintenance of a manifold, termed defense surface, prevents the evader and its target from occupying the same half-space and shown sufficient as a cooperative capture strategy. Nonlinear control synthesis continually reconfigures the pursuers to enable a defense surface via coverage. Simulation results empirically validate that the proposed condition 
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    Full Text Available 
  2. ; (, Proceedings of the American Control Conference)
    This work provides a decentralized approach to safety by combining tools from control barrier functions (CBF) and nonlinear model predictive control (NMPC). It is shown how leveraging backup safety controllers allows for the robust implementation of CBF over the NMPC computation horizon, ensuring safety in nonlinear systems with actuation constraints. A leader-follower approach to control barrier functions (LFCBF) enforcement will be introduced as a strategy to enable a robot leader, in a multi-robot interactions, to complete its task in minimum time, hence aggressively maneuvering. An algorithmic implementation of the proposed solution is provided and safety is verified via simulation. 
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    Accepted Manuscript Full Text Available