Null-space-based modulated reference trajectory generator for multi-robots formation in obstacle environment - Yao, Peng; Wei, Yunxia; Zhao, Zhiyao (ISA transactions, 2022)
Keywords: Nonlinear model predictive control (NMPC); Null-space-based modulated reference trajectory generator; Obstacle/collision avoidance; Three-dimensional formation; Null-space-based modulated reference trajectory generator; Obstacle/collision avoidance; Three-dimensional formation; Nonlinear model predictive control (NMPC)