CLF-CBF Based Quadratic Programs for Safe Motion Control of Nonholonomic Mobile Robots in Presence of Moving Obstacles.
Manavendra DesaiAzad GhaffariPublished in: AIM (2022)
Keyphrases
- motion control
- mobile robot
- quadratic program
- path planning
- autonomous robots
- autonomous navigation
- motion planning
- obstacle avoidance
- dynamic environments
- collision avoidance
- visual servoing
- robotic systems
- moving objects
- mixed integer
- robot control
- machine learning
- sensory information
- quadratic programming
- approximation algorithms
- linear program
- real robot
- real world
- multi robot
- decomposition algorithm
- stereo matching