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eess.SY2024★ 3 cited
GMPC: Geometric Model Predictive Control for Wheeled Mobile Robot Trajectory Tracking
Jiawei Tang, Shuang Wu, Bo Lan +5
The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimizati…
eess.SY2024
Direct Shooting Method for Numerical Optimal Control: A Modified Transcription Approach
Jiawei Tang, Yuxing Zhong, Pengyu Wang +3
Direct shooting is an efficient method to solve numerical optimal control. It utilizes the Runge-Kutta scheme to discretize a continuous-time optimal control problem making the pro…