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- W2947101150 abstract "In this paper the trajectory planning problem for unicycle robots is studied. This problem is particularly difficult to solve online due to its inherently nonlinear and nonconvex structure. The first aim of the paper is to overcome these difficulties using model predictive control (MPC) when a single robot is considered. Several requirements must be fulfilled by the optimal trajectory, such as respecting physical limitations as well as track constraints. The second aim of the paper is to extend the results to a group of robots using distributed MPC providing formation control and inter-robot collision avoidance." @default.
- W2947101150 created "2019-06-07" @default.
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- W2947101150 date "2019-05-08" @default.
- W2947101150 modified "2023-09-28" @default.
- W2947101150 title "Online Trajectory Planning and Collision Avoidance for a Group of Robots Using Distributed Model Predictive Control" @default.
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- W2947101150 doi "https://doi.org/10.1007/978-3-030-19648-6_28" @default.
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