3 papers
cs.RO2026
Model Predictive Planner for UAV Navigation in Non-Convex Air Corridors
Henrique Silva, Marcelo A. Santos, Guilherme V. Raffo
This work presents a motion planning framework for UAV navigation in non-convex urban air corridors. The planner is based on a mixed-integer tracking model predictive control formu…
cs.RO2026
A cell-decomposition based path planner for 3D navigation in constrained workspaces
João P. L. Morais, Luciano C. A. Pimenta, Marcelo A. Santos +1
This paper proposes a cell decomposition algorithm for binary occupancy grids that ensures mutual complete visibility from each cell to at least one adjacent cell. This decompositi…
eess.SY2026
Point-to-Cloud NMPC with Smooth Avoidance Constraints
Brener G. Ferreira, Vinicius M. Gonçalves, Marcelo A. Santos +1
This paper proposes a finite-horizon optimal control strategy for set-point tracking using a nonlinear model predictive control framework with integrated avoidance capabilities. Th…