Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Duality-based Convex Optimization for Real-time Obstacle Avoidance
  between Polytopes with Control Barrier Functions   Developing controllers for obstacle avoidance between polytopes is a
challenging and necessary problem for navigation in tight spaces. Traditional
approaches can only formulate the obstacle avoidance problem as an offline
optimization problem. To address these challenges, we propose a duality-based
safety-critical optimal control using nonsmooth control barrier functions for
obstacle avoidance between polytopes, which can be solved in real-time with a
QP-based optimization problem. A dual optimization problem is introduced to
represent the minimum distance between polytopes and the Lagrangian function
for the dual form is applied to construct a control barrier function. We
validate the obstacle avoidance with the proposed dual formulation for L-shaped
(sofa-shaped) controlled robot in a corridor environment. We demonstrate
real-time tight obstacle avoidance with non-conservative maneuvers on a moving
sofa (piano) problem with nonlinear dynamics.

18
The categories of this paper are: econ
15
The categories of this paper are: nucl-ex
37
The categories of this paper are: supr-con
26
The categories of this paper are: bayes-an
14
The categories of this paper are: math-ph
25
The categories of this paper are: patt-sol
21
The categories of this paper are: adap-org
9
The categories of this paper are: nlin
17
The categories of this paper are: q-fin
0
The categories of this paper are: hep-ph
24
The categories of this paper are: dg-ga
36
The categories of this paper are: cmp-lg
10
The categories of this paper are: q-bio
34
The categories of this paper are: chem-ph
11
The categories of this paper are: hep-lat
13
The categories of this paper are: quant-ph