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cs.RO2025
Safety Meets Speed: Accelerated Neural MPC with Safety Guarantees and No Retraining
Kaikai Wang, Tianxun Li, Liang Xu +2
While Model Predictive Control (MPC) enforces safety via constraints, its real-time execution can exceed embedded compute budgets. We propose a Barrier-integrated Adaptive Neural M…
cs.RO2023
InPTC: Integrated Planning and Tube-Following Control for Prescribed-Time Collision-Free Navigation of Wheeled Mobile Robots
Xiaodong Shao, Bin Zhang, Hui Zhi +4
In this article, we propose a novel approach, called InPTC (Integrated Planning and Tube-Following Control), for prescribed-time collision-free navigation of wheeled mobile robots…