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A double-worst-case formulation for improving the robustness of an MPC-based obstacle avoidance algorithm to parametric uncertainty.
Jiechao Liu
Paramsothy Jayakumar
Jeffrey L. Stein
Tulga Ersal
Published in:
ACC (2017)
Keyphrases
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worst case
obstacle avoidance
path planning
computational complexity
optimization algorithm
average case
mobile robot
lower bound
np hard