Potential-field constructions in an MPC framework: application for safe navigation in a variable coastal environment
Sign Up to like & getrecommendations! Published in 2018 at "IFAC-PapersOnLine"
DOI: 10.1016/j.ifacol.2018.11.049
Abstract: Abstract This work presents an NMPC (Nonlinear Model Predictive Control)-based algorithm for safe navigation of multi-agent dynamical systems in a variable environment with fixed or moving obstacles. The contribution lies in the construction of repulsive… read more here.
Keywords: potential field; field constructions; navigation; constructions mpc ... See more keywords
Learning Barrier Functions With Memory for Robust Safe Navigation
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DOI: 10.1109/lra.2021.3070250
Abstract: Control barrier functions are widely used to enforce safety properties in robot motion planning and control. However, the problem of constructing barrier functions online and synthesizing safe controllers that can deal with the associated uncertainty… read more here.
Keywords: control; control barrier; memory; barrier functions ... See more keywords
Towards Safe Robotic Agricultural Applications: Safe Navigation System Design for a Robotic Grass-Mowing Application through the Risk Management Method
Sign Up to like & getrecommendations! Published in 2023 at "Robotics"
DOI: 10.3390/robotics12030063
Abstract: Safe navigation is a key objective for autonomous applications, particularly those involving mobile tasks, to avoid dangerous situations and prevent harm to humans. However, the integration of a risk management process is not yet mandatory… read more here.
Keywords: risk; grass mowing; safe navigation; risk management ... See more keywords