Robot Online Task and Trajectory Planning using Mixed-Integer Model Predictive Control

A monolithic integration of the robot online task allocation and trajectory planning within the framework of a hybrid model predictive controller is introduced. To this end, the underlying mixed-integer nonlinear programming (MINLP) problem is transformed into a relaxed mixed-integer quadratically c...

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Bibliographic Details

Published in:	2022 European Control Conference (ECC) pp. 2005 - 2011
Main Authors:	Tika, Argtim, Gashi, Fatos, Bajcinca, Naim
Format:	Conference Proceeding
Language:	English
Published:	EUCA 12.07.2022
Subjects:	Manipulators Programming Real-time systems Robot kinematics Software Software algorithms Trajectory planning
Online Access:	Get full text
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