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On the Dual Implementation of Collision-Avoidance Constraints in Path-Following MPC for Underactuated Surface Vessels.
Simon Helling
Christian Roduner
Thomas Meurer
Published in:
ACC (2021)
Keyphrases
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collision avoidance
path planning
mobile robot
dynamic environments
visual navigation
obstacle avoidance
primal dual
genetic algorithm
motion planning
fuzzy neural network
search algorithm
real time
reinforcement learning
range data
dynamic model
formation control