Mingzhang Zhu

Model Predictive Control with Visibility Graphs for Humanoid Path Planning and Tracking Against Adversarial Opponents

In this paper we detail the methods used for obstacle avoidance, path planning, and trajectory tracking that helped us win the adult-sized, autonomous humanoid soccer league in RoboCup 2024. Our team was undefeated for all seated matches and scored 45 goals over 6 games, winning the championship gam