Lorenzo Lyons — accepted AI-conference papers

2023

Curvature-Aware Model Predictive Contouring Control

ICRA 2023poster

We present a novel Curvature-Aware Model Pre-dictive Contouring Control (CA-MPCC) formulation for mobile robotics motion planning. Our method aims at generalizing the traditional contouring control formulation derived from machining to autonomous driving applications. The proposed controller is able…

Cited by 6 Source ↗Scholar ↗

2023

Time-Inverted Kuramoto Model Meets Lissajous Curves: Multi-Robot Persistent Monitoring and Target Detection

Manuel Boldrer, Lorenzo Lyons, Luigi Palopoli, Daniele Fontanelli, Laura Ferranti

RA-L 2023

This letter proposes a distributed strategy to achieve both persistent monitoring and target detection in a rectangular and obstacle-free environment. Each robot has to repeatedly follow a smooth trajectory and avoid collisions with other robots. To achieve this goal, we rely on the time-inverted Ku

Cited by 8 Source ↗Scholar ↗