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.
Implicit swept volume sdf: Enabling continuous collision- free trajectory generation for arbitrary shapes,
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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.