A Passive Navigation Planning Algorithm for Collision-free Control of Mobile Robots
Carlo Tiseo Vladimir Ivan Wolfgang Merkt Ioannis Havoutis Michael Mistry Sethu Vijayakumar Carlo Tiseo Vladimir Ivan Wolfgang Merkt Ioannis Havoutis Michael Mistry Sethu Vijayakumar
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 t...