Model predictive control of a collaborative manipulator considering dynamic obstacles

[1]  Vladimir J. Lumelsky,et al.  On Fast Computation of Distance Between Line Segments , 1985, Information Processing Letters.

[2]  Matthias Althoff,et al.  Online verification of multiple safety criteria for a robot trajectory , 2017, 2017 IEEE 56th Annual Conference on Decision and Control (CDC).

[3]  Jie Zhao,et al.  Nonlinear Model Predictive Control of Robots Using Real-Time Optimization , 2004 .

[4]  Siddhartha S. Srinivasa,et al.  CHOMP: Covariant Hamiltonian optimization for motion planning , 2013, Int. J. Robotics Res..

[5]  Wei Dong,et al.  Smooth and near time-optimal trajectory planning of industrial robots for online applications , 2012, Ind. Robot.

[6]  Andrea Maria Zanchettin,et al.  Safety-aware trajectory scaling for Human-Robot Collaboration with prediction of human occupancy , 2015, 2015 International Conference on Advanced Robotics (ICAR).

[7]  Rickey Dubay,et al.  Non-linear model predictive control schemes with application on a 2 link vertical robot manipulator , 2016 .

[8]  Moritz Diehl,et al.  CasADi: a software framework for nonlinear optimization and optimal control , 2018, Mathematical Programming Computation.

[9]  René Henrion,et al.  Path planning and collision avoidance for robots , 2012 .

[10]  Angelika Zube.  Cartesian nonlinear model predictive control of redundant manipulators considering obstacles , 2015, 2015 IEEE International Conference on Industrial Technology (ICIT).

[11]  Rajeev Motwani,et al.  Path Planning in Expansive Configuration Spaces , 1999, Int. J. Comput. Geom. Appl..

[12]  Patrick Boucher,et al.  Nonlinear Receding-Horizon Control of Rigid Link Robot Manipulators , 2005, ArXiv.

[13]  Lydia E. Kavraki,et al.  Probabilistic roadmaps for path planning in high-dimensional configuration spaces , 1996, IEEE Trans. Robotics Autom..

[14]  Tatsuo Arai,et al.  Real-time trajectory planning for mobile manipulator using model predictive control with constraints , 2011, 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI).

[15]  Paul Bosscher,et al.  Real-time collision avoidance algorithm for robotic manipulators , 2009, 2009 IEEE International Conference on Technologies for Practical Robot Applications.

[16]  Shahram Yousefi,et al.  Planar Inequality Constraints for Stable, Collision-free Model Predictive Control of a Quadcopter , 2017 .

[17]  Pierre-Brice Wieber,et al.  Fast Direct Multiple Shooting Algorithms for Optimal Robot Control , 2005 .

[18]  Andrea Maria Zanchettin,et al.  Constrained model predictive control for mobile robotic manipulators , 2017, Robotica.

[19]  Qi Gong,et al.  Smooth proximity computation for collision-free optimal control of multiple robotic manipulators , 2009, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Shuguo Wang,et al.  Real-time motion planning for robot manipulators in unknown environments using infrared sensors , 2007, Robotica.

[21]  Torsten Bertram,et al.  Integrated online trajectory planning and optimization in distinctive topologies , 2017, Robotics Auton. Syst..

[22]  Keith R. Godfrey,et al.  Comparison of perturbation signals for linear system identification in the frequency domain , 1999 .

[23]  Stefan Schaal,et al.  STOMP: Stochastic trajectory optimization for motion planning , 2011, 2011 IEEE International Conference on Robotics and Automation.

[24]  Kazuhiko Terashima,et al.  Optimal Motion Trajectory Generation and Real-Time Trajectory Modification for an Industrial Robot Working in a Rectangular Space , 2013 .

[25]  Maxime Gautier,et al.  Nonlinear model predictive control of a robot manipulator , 2000, 6th International Workshop on Advanced Motion Control. Proceedings (Cat. No.00TH8494).

[26]  Antonella Ferrara,et al.  MPC for Robot Manipulators With Integral Sliding Modes Generation , 2017, IEEE/ASME Transactions on Mechatronics.

[27]  Jianjun Luo,et al.  A non-linear model predictive controller with obstacle avoidance for a space robot , 2016 .

[28]  Wenlong Zhang,et al.  Collision-free trajectory planning in human-robot interaction through hand movement prediction from vision , 2017, 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids).

[29]  Oussama Khatib,et al.  Real-Time Obstacle Avoidance for Manipulators and Mobile Robots , 1985, Autonomous Robot Vehicles.

[30]  David Q. Mayne,et al.  Constrained model predictive control: Stability and optimality , 2000, Autom..

[31]  Antonella Ferrara,et al.  Deep Reinforcement Learning for Collision Avoidance of Robotic Manipulators , 2018, 2018 European Control Conference (ECC).

[32]  Alin Albu-Schäffer,et al.  Path-Accurate Online Trajectory Generation for Jerk-Limited Industrial Robots , 2016, IEEE Robotics and Automation Letters.

[33]  Kaspar Althoefer,et al.  Real-time pose estimation and obstacle avoidance for multi-segment continuum manipulator in dynamic environments , 2016, 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[34]  Adam Owczarkowski,et al.  Direct Nonlinear Model Predictive Control and Predictive Control with Feedback Linearization. A comparison of the approaches , 2017, 2017 18th International Carpathian Control Conference (ICCC).

[35]  Frank Hoffmann,et al.  Exploiting Sparse Structures in Nonlinear Model Predictive Control with Hypergraphs , 2018, 2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM).

[36]  Corrado Guarino Lo Bianco,et al.  Online Trajectory Scaling for Manipulators Subject to High-Order Kinematic and Dynamic Constraints , 2011, IEEE Transactions on Robotics.

[37]  S. Sathiya Keerthi,et al.  A fast procedure for computing the distance between complex objects in three-dimensional space , 1988, IEEE J. Robotics Autom..

[38]  Rolf Findeisen,et al.  Nonlinear model predictive control : a sampled data feedback perspective , 2005 .

[39]  Valder Steffen,et al.  Robot path planning in a constrained workspace by using optimal control techniques , 2008 .

[40]  Lorenz T. Biegler,et al.  On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming , 2006, Math. Program..

[41]  Steven M. LaValle,et al.  RRT-connect: An efficient approach to single-query path planning , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[42]  Tomasz Rybus,et al.  Control System for Free-Floating Space Manipulator Based on Nonlinear Model Predictive Control (NMPC) , 2017, J. Intell. Robotic Syst..

[43]  J. Betts.  Survey of Numerical Methods for Trajectory Optimization , 1998 .

[44]  Kazuhito Yokoi,et al.  Online replanning for reactive robot motion: Practical aspects , 2010, 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[45]  Anthony G. Pipe,et al.  An online robot trajectory planning and programming support system for industrial use , 2013 .

[46]  Thomas Timm Andersen.  Optimizing the Universal Robots ROS driver. , 2015 .