Safety-critical Geometric Control Design with Application to Aerial Transportation
Safety constraints are ubiquitous in many robotic applications. For instance, aerial robots such as quadrotors or hexcoptors need to realize fast collision-free flight, and bipedal robots have to choose their discrete footholds properly to gain the desired friction and pressure contact forces. In th...
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| Format: | Others |
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Research Showcase @ CMU
2017
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| Online Access: | http://repository.cmu.edu/dissertations/1108 http://repository.cmu.edu/cgi/viewcontent.cgi?article=2147&context=dissertations |