A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots

  title={A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots},
  author={Carlo Tiseo and Vladimir Ivan and Wolfgang Xaver Merkt and Ioannis Havoutis and Michael N. Mistry and Sethu Vijayakumar},
  journal={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  • C. TiseoV. Ivan S. Vijayakumar
  • Published 1 November 2020
  • Computer Science
  • 2021 IEEE International Conference on Robotics and Automation (ICRA)
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant computational resources to be effectively deployed and they may have limited generality. We propose a planning algorithm based on a globally stable passive controller that can plan smooth trajectories using limited computational resources in challenging environmental… 

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