3 papers
cs.RO2025
Real-Time Model Predictive Control of Vehicles with Convex-Polygon-Aware Collision Avoidance in Tight Spaces
Haruki Kojima, Kohei Honda, Hiroyuki Okuda +1
This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model…
cs.RO2025
DRPA-MPPI: Dynamic Repulsive Potential Augmented MPPI for Reactive Navigation in Unstructured Environments
Takahiro Fuke, Masafumi Endo, Kohei Honda +1
Reactive mobile robot navigation in unstructured environments is challenging when robots encounter unexpected obstacles that invalidate previously planned trajectories. Model predi…
cs.RO2025
Ground and Flight Locomotion for Two-Wheeled Drones via Model Predictive Path Integral Control
Gosuke Kojima, Kohei Honda, Satoshi Nakano +1
This paper presents a novel approach to motion planning for two-wheeled drones that can drive on the ground and fly in the air. Conventional methods for two-wheeled drone motion pl…