A Duality-based Approach for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (CoRR, 2021)

A Fast Computational Optimization for Optimal Control and Trajectory Planning for Obstacle Avoidance between Polytopes. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (CoRR, 2021)

Duality-based Convex Optimization for Real-time Obstacle Avoidance between Polytopes with Control Barrier Functions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (ACC, 2022)

Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (ICRA, 2022)

Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models. - Zhongyu Li 003; Jun Zeng 002; Akshay Thirugnanam; Koushil Sreenath (Robotics: Science and Systems, 2022)

Walking in Narrow Spaces: Safety-Critical Locomotion Control for Quadrupedal Robots with Duality-Based Optimization. - Qiayuan Liao; Zhongyu Li 003; Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (IROS, 2023)

Nonsmooth Control Barrier Functions for Obstacle Avoidance between Convex Regions. - Akshay Thirugnanam; Jun Zeng 002; Koushil Sreenath (CoRR, 2023)

Dynamic Incentive Selection for Hierarchical Convex Model Predictive Control. - Akshay Thirugnanam; Koushil Sreenath (CoRR, 2025)