2 papers
cs.RO2020
CIAO: MPC-based Safe Motion Planning in Predictable Dynamic Environments
Tobias Schoels, Per Rutquist, Luigi Palmieri +3
Robots have been operating in dynamic environments and shared workspaces for decades. Most optimization based motion planning methods, however, do not consider the movement of othe…
cs.RO2019
An NMPC Approach using Convex Inner Approximations for Online Motion Planning with Guaranteed Collision Avoidance
Tobias Schoels, Luigi Palmieri, Kai O. Arras +1
Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade of…