Mattia Penzotti

A Task-Space Receding Horizon Controller for Fast Collision Avoidance

Mattia Penzotti, Marco Controzzi

Real-time collision avoidance for robotic manipulators requires fast reactions to unexpected obstacle motion and lookahead to avoid becoming trapped by near-future constraints. Full model predictive control can provide this foresight, but its online cost may grow quickly with hor…Read more