A Predictive Path-Following Controller for Continuous Replanning With Dynamic Roadmaps
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2929990
Abstract: This letter proposes a predictive path-following controller for efficient time parameterization during continuous replanning with dynamic roadmaps (DRMs). DRMs are an approach for fast global path planning in changing environments and are based on a… read more here.
Keywords: path following; following controller; continuous replanning; predictive path ... See more keywords
ZSG-MPPI: Robust Model-Predictive Path-Integral Method for Disturbance Handling
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2025.3622999
Abstract: Zero-sum games (ZSGs) provide a robust control framework for autonomous systems operating underdisturbances. However, existing methods often face challenges in achieving real-time computation and maintaining high performance in unseen environments. Recent sampling-based approaches alleviate some… read more here.
Keywords: zsg mppi; model predictive; path integral; real time ... See more keywords
Implementation of Nonlinear Model Predictive Path-Following Control for an Industrial Robot
Sign Up to like & getrecommendations! Published in 2017 at "IEEE Transactions on Control Systems Technology"
DOI: 10.1109/tcst.2016.2601624
Abstract: Many robotic applications, such as milling, gluing, or high precision measurements, require the precise following of a predefined geometric path. We investigate the real-time feasible implementation of model predictive path-following control for an industrial robot.… read more here.
Keywords: model predictive; predictive path; implementation; path ... See more keywords