NMPC-LBF: Nonlinear MPC with Learned Barrier Function for Decentralized Safe Navigation of Multiple Robots in Unknown Environments.
Amir Salimi LafmejaniSpring BermanGeorgios FainekosPublished in: IROS (2022)
Keyphrases
- unknown environments
- multiple robots
- mobile robot
- autonomous robots
- multi robot systems
- path planning
- exploration strategy
- nonlinear model predictive control
- mpc algorithm
- dynamic model
- obstacle avoidance
- multi robot
- robot navigation
- free space
- outdoor environments
- collision avoidance
- indoor environments
- topological map
- autonomous navigation
- robotic systems
- model predictive control
- dynamic environments
- multi agent
- multiple targets
- computer vision
- motion planning