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cs.RO2025
Long Range Navigator (LRN): Extending robot planning horizons beyond metric maps
Matt Schmittle, Rohan Baijal, Nathan Hatch +6
A robot navigating an outdoor environment with no prior knowledge of the space must rely on its local sensing to perceive its surroundings and plan. This can come in the form of a…
cs.RO2021
The Value of Planning for Infinite-Horizon Model Predictive Control
Nathan Hatch, Byron Boots
Model Predictive Control (MPC) is a classic tool for optimal control of complex, real-world systems. Although it has been successfully applied to a wide range of challenging tasks…