A convex model predictive controller with a flexible safety tube and learned collision-free corridors achieves fast, robust, collision-free motion for robot manipulators under model uncertainty.
Time-optimal path tracking for robots: A convex optimization approach,
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Robust Convex Model Predictive Control with collision avoidance guarantees for robot manipulators
A convex model predictive controller with a flexible safety tube and learned collision-free corridors achieves fast, robust, collision-free motion for robot manipulators under model uncertainty.