We construct a sensor-based feedback law that provably solves the real-time collision-free
robot navigation problem in a compact convex Euclidean subset cluttered with unknown but …

This technical article addresses the formation stabilization problem for multiagent systems
(MASs) composed of dynamical agents moving within an obstacle-cluttered environment …

Uncertainty in the behavior of other traffic participants is a crucial factor in collision
avoidance for automated driving; here, stochastic metrics could avoid overly conservative …

In multivehicle autonomous systems that operate under unknown or adversarial
environments, it is a challenging task to simultaneously achieve source seeking and …

Path planning is a decisive module of mobile robots and its time efficiency significantly
affects the safety of the robots. Sampling-based methods have achieved great success in the …

Navigation tasks often cannot be defined in terms of a target, either because global position
information is unavailable or unreliable or because target location is not explicitly known a …

Given a convex quadratic potential of which its minimum is the agent's goal and a Euclidean
space populated with ellipsoidal obstacles, one can construct a Rimon–Koditschek (RK) …

This study develops a novel image-based control scheme to address the on-orbit service
mission that multiple spacecraft track a tumbling uncooperative target under a visibility …

This paper concerns the construction of a scalar valued analytic map, which we term as the
navigation function, on 3-manifold with boundary as a disjoint union of Hopf tori. Although it …

The goal of this thesis is to develop a mathematical framework for autonomous behavior. We
begin by describing a minimum notion of autonomy, understood as the ability that an agent …