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most citedASAP-MPC: An Asynchronous Update Scheme for Online Motion Planning with Nonlinear Model Predictive Control

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math.OC2025

Decoupling Collision Avoidance in and for Optimal Control using Least-Squares Support Vector Machines

Dries Dirckx, Wilm Decré, Jan Swevers

This paper details an approach to linearise differentiable but non-convex collision avoidance constraints tailored to convex shapes. It revisits introducing differential collision…