Abstract: In this paper, we consider a dynamical system whose trajectory is a result of minimizing a multiphase cost function. The multiphase cost function is assumed to be a weighted sum of specified ...

Abstract: In robotics field, safety is an extensively researched subject. This article proposes an approach, which is based on high-order control barrier functions (HOCBFs) and computed torque control ...

A library that evaluates math expressions, functions, and variables. It also saves and restores history and variables. This is used by the Calculate X applications from 12noon LLC.