Songyin Cai

MIVG: Mode-Isolated Velocity-Guide Algorithm for Quadratic Optimization-Based Obstacle Avoidance

Dynamic obstacle avoidance is a challenging problem in robotic control, with many algorithms developed to balance efficiency and real-time performance. Existing resolved-rate motion control (RRMC) methods formulate obstacle avoidance as a quadratic programming (QP) problem. However, the lack of dire