A sampling-based algorithm builds feasible spatiotemporal tubes for differential-drive robots to satisfy temporal reach-avoid-stay specifications, paired with a closed-form robust controller.
Disturbance rejection mpc for tracking of wheeled mobile robot.IEEE/ASME Transactions On Mechatronics, 22(6):2576–2587, 2017
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Temporal Reach-Avoid-Stay Control for Differential Drive Systems via Spatiotemporal Tubes
A sampling-based algorithm builds feasible spatiotemporal tubes for differential-drive robots to satisfy temporal reach-avoid-stay specifications, paired with a closed-form robust controller.