2 papers
cs.RO2025
Decentralized Nonlinear Model Predictive Control-Based Flock Navigation with Real-Time Obstacle Avoidance in Unknown Obstructed Environments
Nuthasith Gerdpratoom, Kaoru Yamamoto
This work extends our prior work on the distributed nonlinear model predictive control (NMPC) for navigating a robot fleet following a certain flocking behavior in unknown obstruct…
eess.SY2025
Enhanced sampled-data model predictive control via nonlinear lifting
Nuthasith Gerdpratoom, Fumiya Matsuzaki, Yutaka Yamamoto +1
This paper introduces a novel nonlinear model predictive control (NMPC) framework that incorporates a lifting technique to enhance control performance for nonlinear systems. While…