Differential equations are fundamental tools in physics: they are used to describe phenomena ranging from fluid dynamics to general relativity. But when these equations become stiff (i.e. they involve ...

The seemingly unpredictable, and thereby uncontrollable, dynamics of living organisms have perplexed and fascinated ...

Abstract: The ability to navigate through dense obstacles and narrow gaps is crucial for practical deployment of quadrotors in complex environments. However, existing approaches face challenges in ...

Abstract: Discrete-time Control Barrier Functions (DTCBFs) form a powerful control theoretic tool to guarantee safety and synthesize safe controllers for discrete-time dynamical systems. In this paper ...