Hybrid Feedback for Three-dimensional Convex Obstacle Avoidance (Extended version)
<|reference_start|>Hybrid Feedback for Three-dimensional Convex Obstacle Avoidance (Extended version): We propose a hybrid feedback control scheme for the autonomous robot navigation problem in three-dimensional environments with arbitrarily-shaped convex obstacles. The proposed hybrid control strategy, which consists in switching between the move-to-target mode and the obstacle-avoidance mode, guarantees global asymptotic stability of the target location in the obstacle-free workspace. We also provide a procedure for the implementation of the proposed hybrid controller in a priori unknown environments and validate its effectiveness through simulation results.<|reference_end|>
@article{sawant2024hybrid,
    title={Hybrid Feedback for Three-dimensional Convex Obstacle Avoidance
  (Extended version)},
    author={Mayur Sawant, Ilia Polushin, Abdelhamid Tayebi},
    journal={arXiv preprint arXiv:2403.11279},
    year={2024},
    archivePrefix={arXiv},
    eprint={2403.11279},
    primaryClass={cs.RO cs.SY eess.SY}
}