2022
A Sequential MPC Approach to Reactive Planning for Bipedal Robots Using Safe Corridors in Highly Cluttered Environments
RA-L 2022
This letter presents a sequential Model Predictive Control (MPC) approach to reactive motion planning for bipedal robots in highly cluttered environments with moving obstacles. The approach relies on a directed convex decomposition of the free space, which provides a safe corridor in the form of an