Set-Theoretic Methods in Control
Set-Theoretic Methods in Control
A Survey of Motion Planning Algorithms from the Perspective of Autonomous UAV Guidance
Journal of Intelligent and Robotic Systems
Robustness analysis on constrained model predictive control for nonholonomic vehicle regulation
ACC'09 Proceedings of the 2009 conference on American Control Conference
Set invariance under output feedback: a set-dynamics approach
International Journal of Systems Science
Constrained Control and Estimation: An Optimisation Approach
Constrained Control and Estimation: An Optimisation Approach
Discrete abstractions for robot motion planning and control in polygonal environments
IEEE Transactions on Robotics
Survey Constrained model predictive control: Stability and optimality
Automatica (Journal of IFAC)
Robust output feedback model predictive control of constrained linear systems
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Robot Motion Planning in Dynamic, Uncertain Environments
IEEE Transactions on Robotics
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'This paper introduces the integration of a probing scheme into a robust MPC-based robot motion planning and control algorithm. The proposed solution tackles the output-feedback tube-based MPC problem using the partially-closed loop strategy to incorporate future measurements in a computationally efficient manner. This combination will provide not only a robust controller but also avoids overly conservative planning which is a drawback of the original implementation of the output-feedback tube-based MPC. The proposed solution is composed of two controllers: (i) a nominal MPC controller with probing feature to plan a globally convergent trajectory in conjunction with active localization, and (ii) an ancillary MPC controller to stabilize the robot motion around the planned trajectory. The performance and real-time implementation of the proposed planning and control algorithms have been verified through both extensive numerical simulations and experiments with a mobile robot.