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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…
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Keywords:
potential field;
field constructions;
navigation;
constructions mpc ... See more keywords
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Published in 2021 at "IEEE Robotics and Automation Letters"
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…
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Keywords:
control;
control barrier;
memory;
barrier functions ... See more keywords
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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…
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Keywords:
risk;
grass mowing;
safe navigation;
risk management ... See more keywords