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Optimal Trajectory Planning and Model Predictive Control of Underactuated Marine Surface Vessels using a Flatness-Based Approach.
Max Lutz
Thomas Meurer
Published in:
ACC (2021)
Keyphrases
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trajectory planning
motion planning
model predictive control
obstacle avoidance
path planning
mobile robot
robot manipulators
degrees of freedom
control system
predictive control
optimal solution
dynamic environments
dynamic programming
d objects
computer vision
control law
three dimensional
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