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cs.RO2024
Dynamic Tube MPC: Learning Tube Dynamics with Massively Parallel Simulation for Robust Safety in Practice
William D. Compton, Noel Csomay-Shanklin, Cole Johnson +1
Safe navigation of cluttered environments is a critical challenge in robotics. It is typically approached by separating the planning and tracking problems, with planning executed o…
cs.RO2024
Dynamically Feasible Path Planning in Cluttered Environments via Reachable Bezier Polytopes
Noel Csomay-Shanklin, William D. Compton, Aaron D. Ames
The deployment of robotic systems in real world environments requires the ability to quickly produce paths through cluttered, non-convex spaces. These planned trajectories must be…