A planning and control framework for multi-axle swerve-drive robots that reduces swept area during turns by aligning vehicle heading with the path tangent and tracking the resulting trajectory with MPC.
Planning, learning and reasoning framework for robot truck unloading,
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Swept Volume-Aware Trajectory Planning and MPC Tracking for Multi-Axle Swerve-Drive AMRs
A planning and control framework for multi-axle swerve-drive robots that reduces swept area during turns by aligning vehicle heading with the path tangent and tracking the resulting trajectory with MPC.