arxiveess.SY2026-07-13
Dynamically Feasible Planning and Control in Complex Environments: a Scalable Systematic Approach
Miguel Castroviejo-Fernandez, Ilya Kolmanovsky
In this article we present a method to generate safe sets for linear discrete-time systems subject to non-convex constraints that can be represented as a union of polytopes. It is then shown how a reference governor can be implemented for safe reference tracking tasks. A theoreti…