An open source library for transformation functions useful for robotic applications (forward/inverse kinematics, path planning, etc.) The library provides access to various classes for working with ...

Abstract: The problem of synthesis of a homogeneous Lyapunov function for an asymptotically stable homogeneous system is studied. For systems with a nonnegative degree of homogeneity, a numeric ...

Abstract: Optimization-based safety filters, such as control barrier function (CBF) based quadratic programs (QPs), have demonstrated success in controlling autonomous systems to achieve complex goals ...

Neurons are cells that transmit electrical signals through the nervous system. Motor neurons control muscle activity and movement by carrying impulses from the brain and spinal cord. Sensory neurons ...