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Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions.
Jun Zeng
Zhongyu Li
Koushil Sreenath
Published in:
CoRR (2021)
Keyphrases
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receding horizon
markov chain
finite state
image based visual servoing
nonlinear model predictive control
machine learning
least squares
dynamic model
robot control