Advanced model predictive control framework for autonomous intelligent mechatronic systems: A tutorial overview and perspectives
Y Shi, K Zhang - Annual Reviews in Control, 2021 - Elsevier
This paper presents a review on the development and application of model predictive
control (MPC) for autonomous intelligent mechatronic systems (AIMS). Starting from the …
control (MPC) for autonomous intelligent mechatronic systems (AIMS). Starting from the …
Model Predictive Path Following Control without terminal constraints for holonomic mobile robots
In this paper, a model predictive path following control (MPFC) for holonomic mobile robots
is considered. The MPFC is aimed to control a mobile robot to follow a geometric path …
is considered. The MPFC is aimed to control a mobile robot to follow a geometric path …
Motion planning and control of an omnidirectional mobile robot in dynamic environments
Motion control in dynamic environments is one of the most important problems in using
mobile robots in collaboration with humans and other robots. In this paper, the motion …
mobile robots in collaboration with humans and other robots. In this paper, the motion …
Nonlinear MPC for collision-free and deadlock-free navigation of multiple nonholonomic mobile robots
AS Lafmejani, S Berman - Robotics and Autonomous Systems, 2021 - Elsevier
In this paper, we present an online nonlinear Model Predictive Control (MPC) method for
collision-free, deadlock-free navigation by multiple autonomous nonholonomic Wheeled …
collision-free, deadlock-free navigation by multiple autonomous nonholonomic Wheeled …
Reinforcement learning-based model predictive control for discrete-time systems
This article proposes a novel reinforcement learning-based model predictive control
(RLMPC) scheme for discrete-time systems. The scheme integrates model predictive control …
(RLMPC) scheme for discrete-time systems. The scheme integrates model predictive control …
Nonlinear model predictive control-based collision avoidance for mobile robot
This work proposes an efficient and safe single-layer Nonlinear Model Predictive Control
(NMPC) system based on LiDAR to solve the problem of autonomous navigation in cluttered …
(NMPC) system based on LiDAR to solve the problem of autonomous navigation in cluttered …
Nmpc-lbf: Nonlinear mpc with learned barrier function for decentralized safe navigation of multiple robots in unknown environments
AS Lafmejani, S Berman… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
In this paper, we present a decentralized control approach based on a Nonlinear Model
Predictive Control (NMPC) method that employs barrier certificates for safe navigation of …
Predictive Control (NMPC) method that employs barrier certificates for safe navigation of …
Adaptation of gradient-based navigation control for holonomic robots to nonholonomic robots
AS Lafmejani, H Farivarnejad… - IEEE Robotics and …, 2020 - ieeexplore.ieee.org
In this letter, we propose a gradient-based nonlinear control approach for stabilizing a
nonholonomic Wheeled Mobile Robot (WMR) to a target position in environments with and …
nonholonomic Wheeled Mobile Robot (WMR) to a target position in environments with and …
Mobile robot's path-planning and path-tracking in static and dynamic environments: Dynamic programming approach
A Marashian, A Razminia - Robotics and Autonomous Systems, 2024 - Elsevier
One of the main issues in robotics systems is planning and tracking a safe path in diverse
environments. This paper addresses an optimal methodology for generating the desired …
environments. This paper addresses an optimal methodology for generating the desired …
Safe and adaptive autonomous navigation under uncertainty based on sequential waypoints and reachability analysis
This paper presents a new approach for a safe autonomous navigation based on reliable
state space reachability analysis. This latter improves an already proposed flexible …
state space reachability analysis. This latter improves an already proposed flexible …