In this paper, we present an online nonlinear Model Predictive Control (MPC) method for
collision-free, deadlock-free navigation by multiple autonomous nonholonomic Wheeled …

In this paper, a recently developed open-source toolkit implementing fast nonlinear model
predictive control (NMPC) routines has been utilized to achieve the two main control …

In this paper, we present a decentralized control approach based on a Nonlinear Model
Predictive Control (NMPC) method that employs barrier certificates for safe navigation of …

In the study of collision‐free navigation methods of multirobots, much attention has been
paid to the constraints of external environment. However, most of the wheeled mobile robots …

This work proposes an efficient and safe single-layer Nonlinear Model Predictive Control
(NMPC) system based on LiDAR to solve the problem of autonomous navigation in cluttered …

The control of mobile robotic systems with input constraints is still a remarkable problem for
many applications. This paper studies the model predictive control‐based kinematic control …

Trajectory tracking for autonomous vehicles is usually solved by designing control laws that
make the vehicles track predetermined feasible trajectories based on the trajectory error …

Model predictive control (MPC) theory has gained attention with the recent increase in the
processing power of computers that are now able to perform the needed calculations for this …

Mobile robots tracking a reference trajectory are constrained by the motion limits of their
actuators, which impose the requirement for high autonomy driving capabilities in robots …

The problem of steering a nonholonomic mobile robot to a desired position and orientation
is considered. In this paper, a model predictive control (MPC) scheme based on tailored …