Behavior-based switch-time MPC for mobile robots.
Greg DrogePeter KingstonMagnus EgerstedtPublished in: IROS (2012)
Keyphrases
- mobile robot
- robot control
- path planning
- high speed
- dynamic environments
- indoor environments
- autonomous robots
- obstacle avoidance
- motion planning
- motion control
- unknown environments
- multi robot
- mobile robotics
- dynamic model
- unstructured environments
- autonomous mobile robot
- collision avoidance
- multiple robots
- control architecture
- robotic systems
- closed loop
- robot localization
- subsumption architecture
- map building
- autonomous navigation
- outdoor environments
- information systems
- mobile robot localization
- functional verification
- neural network