A robustified two-stage time-optimal controller co-optimizes feedback gains and state covariances in a fixed-grid first stage and minimizes travel time in a variable-grid second stage, with online replanning.
A stabilizing nonlinear model predictive control scheme for time-optimal point-to-point motions,
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Robustified Time-optimal Point-to-point Motion Planning and Control under Uncertainty
A robustified two-stage time-optimal controller co-optimizes feedback gains and state covariances in a fixed-grid first stage and minimizes travel time in a variable-grid second stage, with online replanning.