NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments.
Amir Salimi LafmejaniSpring BermanGeorgios FainekosPublished in: CoRR (2022)
Keyphrases
- unknown environments
- multiple robots
- mobile robot
- autonomous robots
- multi robot systems
- path planning
- exploration strategy
- nonlinear model predictive control
- obstacle avoidance
- dynamic model
- mpc algorithm
- robot navigation
- multi robot
- free space
- outdoor environments
- indoor environments
- dynamic environments
- collision avoidance
- robotic systems
- motion planning
- closed loop
- simultaneous localization and mapping
- multi agent
- mobile agents
- collision free
- topological map
- mobile robotics
- autonomous navigation