A new governor module lets path planners and nonlinear MPC work together with guaranteed recursive feasibility and an expanded region of attraction, validated in quadrotor simulation.
Path planning for automa- tion of surgery robot based on probabilistic roadmap and reinforcement learning,
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Integrating Planning and Predictive Control Using the Path Feasibility Governor
A new governor module lets path planners and nonlinear MPC work together with guaranteed recursive feasibility and an expanded region of attraction, validated in quadrotor simulation.