Cover Image

Chance-Constrained Sampling-Based MPC for Collision Avoidance in Uncertain Dynamic Environments

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Mohamed, Ihab S., Ali, Mahmoud, Liu, Lantao
Format:	Preprint
Published:	2025
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Residual Neural Terminal Constraint for MPC-based Collision Avoidance in Dynamic Environments
by: Derajić, Bojan, et al.
Published: (2025)

Towards Efficient MPPI Trajectory Generation with Unscented Guidance: U-MPPI Control Strategy
by: Mohamed, Ihab S., et al.
Published: (2023)

Moving Obstacle Collision Avoidance via Chance-Constrained MPC with CBF
by: Li, Ming, et al.
Published: (2023)

A MILP-Based Solution to Multi-Agent Motion Planning and Collision Avoidance in Constrained Environments
by: Jaitly, Akshay, et al.
Published: (2025)

Gradient Field-Based Dynamic Window Approach for Collision Avoidance in Complex Environments
by: Zhang, Ze, et al.
Published: (2025)

Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments
by: Bena, Ryan M., et al.
Published: (2024)

Risk-Sensitive Orbital Debris Collision Avoidance using Distributionally Robust Chance Constraints
by: Ryu, Kanghyun, et al.
Published: (2024)

Autonomous Mapless Navigation on Uneven Terrains
by: Jardali, Hassan, et al.
Published: (2024)

U-OBCA: Uncertainty-Aware Optimization-Based Collision Avoidance via Wasserstein Distributionally Robust Chance Constraints
by: Wang, Zehao, et al.
Published: (2026)

Decentralized Contingency MPC based on Safe Sets for Nonlinear Multi-agent Collision Avoidance
by: Studt, Max, et al.
Published: (2026)

Safe Reference Tracking and Collision Avoidance for Taxiing Aircraft Using an MPC-CBF Framework
by: Butler, Brooks A., et al.
Published: (2024)

Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties
by: Trivedi, Ananya, et al.
Published: (2024)

Dynamic Bipedal MPC with Foot-level Obstacle Avoidance and Adjustable Step Timing
by: Wang, Tianze, et al.
Published: (2025)

No Minima, No Collisions: Combining Modulation and Control Barrier Function Strategies for Feasible Dynamic Collision Avoidance
by: Xue, Yifan, et al.
Published: (2025)

Minimalistic Autonomous Stack for High-Speed Time-Trial Racing
by: Ali, Mahmoud, et al.
Published: (2025)

Cooperative Periodic Coverage With Collision Avoidance
by: Palacios-Gasós, José Manuel, et al.
Published: (2024)

ADEPT: Adaptive Diffusion Environment for Policy Transfer Sim-to-Real
by: Yu, Youwei, et al.
Published: (2025)

Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs
by: Leprich, David, et al.
Published: (2025)

Three Dimensional Hydrodynamic Flow-Based Collision Avoidance for UAV Formations Facing Emergent Dynamic Obstacles
by: Sato, Suguru, et al.
Published: (2026)

A Novel Optimization-Based Collision Avoidance For Autonomous On-Orbit Assembly
by: Tavana, Siavash, et al.
Published: (2024)

Adaptive Smooth Tchebycheff Attention for Multi-Objective Policy Optimization
by: Murillo-Gonzalez, Alejandro, et al.
Published: (2026)

Convex Maneuver Planning for Spacecraft Collision Avoidance
by: Vega, Fausto, et al.
Published: (2025)

Safety Verification for Evasive Collision Avoidance in Autonomous Vehicles with Enhanced Resolutions
by: Arab, Aliasghar, et al.
Published: (2024)

Hamilton--Jacobi Reachability for Spacecraft Collision Avoidance
by: Hui, Larry, et al.
Published: (2026)

Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems
by: Huang, Jihao, et al.
Published: (2023)

Chance-Constrained Trajectory Planning with Multimodal Environmental Uncertainty
by: Ren, Kai, et al.
Published: (2025)

A Linear MPC with Control Barrier Functions for Differential Drive Robots
by: Ali, Ali Mohamed, et al.
Published: (2024)

Beyond Collision Cones: Dynamic Obstacle Avoidance for Nonholonomic Robots via Dynamic Parabolic Control Barrier Functions
by: Park, Hun Kuk, et al.
Published: (2025)

Learning Fast, Tool aware Collision Avoidance for Collaborative Robots
by: Lee, Joonho, et al.
Published: (2025)

Markov Decision Processes for Satellite Maneuver Planning and Collision Avoidance
by: Kuhl, William, et al.
Published: (2025)

Optimal Trajectory Planning with Collision Avoidance for Autonomous Vehicle Maneuvering
by: Zalev, Jason
Published: (2025)

Distributed Planning for Rigid Robot Formations with Probabilistic Collision Avoidance
by: Mikkelsen, Jeppe Heini, et al.
Published: (2024)

Efficient Optimal Path Planning in Dynamic Environments Using Koopman MPC
by: Abtahi, Mohammad, et al.
Published: (2025)

An Efficient Risk-aware Branch MPC for Automated Driving that is Robust to Uncertain Vehicle Behaviors
by: Zhang, Luyao, et al.
Published: (2024)

Flexible Active Safety Motion Control for Robotic Obstacle Avoidance: A CBF-Guided MPC Approach
by: Liu, Jinhao, et al.
Published: (2024)

Online Controller Synthesis for Robot Collision Avoidance: A Case Study
by: Fan, Yuheng, et al.
Published: (2025)

Multi-Modal Model Predictive Path Integral Control for Collision Avoidance
by: Bertipaglia, Alberto, et al.
Published: (2025)

Semi-Infinite Programming for Collision-Avoidance in Optimal and Model Predictive Control
by: Gao, Yunfan, et al.
Published: (2025)

Dodging the Moose: Experimental Insights in Real-Life Automated Collision Avoidance
by: Gharavi, Leila, et al.
Published: (2026)

Optimization-free Smooth Control Barrier Function for Polygonal Collision Avoidance
by: Wu, Shizhen, et al.
Published: (2025)