A robust MPC controller with a safety mode that tightens constraints from predicted obstacle motion is simulated and reported to beat a slow-and-stop baseline on task time.
An improved neural network algorithm to efficiently track various trajectories of robot manipulator arms,
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Safety-Aware Robust Model Predictive Control for Robotic Arms in Dynamic Environments
A robust MPC controller with a safety mode that tightens constraints from predicted obstacle motion is simulated and reported to beat a slow-and-stop baseline on task time.