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Safe MPC-based Motion Planning of AUVs Using MHE-based Approximate Robust Control Barrier Functions.
Hossein Nejatbakhsh Esfahani
Javad Mohammadpour Velni
Published in:
MED (2024)
Keyphrases
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motion planning
robotic arm
mechanical systems
degrees of freedom
path planning
trajectory planning
mobile robot
humanoid robot
autonomous underwater vehicle
nearest neighbor searching
control system
robotic tasks
multi robot
configuration space
obstacle avoidance
control strategy
dynamic model