Cover Image

A Switching Nonlinear Model Predictive Control Strategy for Safe Collision Handling by an Underwater Vehicle-Manipulator System

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Polyzos, Ioannis G., Kyriakopoulos, Konstantinos J.
Format:	Preprint
Published:	2026
Subjects:	Robotics Systems and Control
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Multirotor Nonlinear Model Predictive Control based on Visual Servoing of Evolving Features
by: Aspragkathos, Sotirios N., et al.
Published: (2024)

System Identification and Adaptive Input Estimation on the Jaiabot Micro Autonomous Underwater Vehicle
by: Faros, Ioannis, et al.
Published: (2025)

Disturbance Preview for Nonlinear Model Predictive Trajectory Tracking of Underwater Vehicles in Wave Dominated Environments
by: Walker, Kyle L., et al.
Published: (2023)

Model Predictive Contouring Control for Vehicle Obstacle Avoidance at the Limit of Handling Using Torque Vectoring
by: Bertipaglia, Alberto, et al.
Published: (2024)

Uncertainty-Aware Adaptive Dynamics For Underwater Vehicle-Manipulator Robots
by: Morgan, Edward, et al.
Published: (2026)

Interpretable Data-Driven Ship Dynamics Model: Enhancing Physics-Based Motion Prediction with Parameter Optimization
by: Papandreou, Christos, et al.
Published: (2025)

Impedance Control for Manipulators Handling Heavy Payloads
by: Aghili, Farhad
Published: (2024)

Nonlinear Model Predictive Control-Based Reverse Path-Planning and Path-Tracking Control of a Vehicle with Trailer System
by: Cao, Xincheng, et al.
Published: (2025)

Towards Real-World Validation of a Physics-Based Ship Motion Prediction Model
by: Mathioudakis, Michail, et al.
Published: (2025)

Model Predictive Wave Disturbance Rejection for Underwater Soft Robotic Manipulators
by: Walker, Kyle L., et al.
Published: (2024)

A Nonlinear Model Predictive Control for Automated Drifting with a Standard Passenger Vehicle
by: Meijer, Stan, et al.
Published: (2024)

A Step-by-step Guide on Nonlinear Model Predictive Control for Safe Mobile Robot Navigation
by: Benders, Dennis, et al.
Published: (2025)

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

Adaptive Fault-tolerant Control of Underwater Vehicles with Thruster Failures
by: Liu, Haolin, et al.
Published: (2025)

Gliding in extreme waters: Dynamic Modeling and Nonlinear Control of an Agile Underwater Glider
by: Yang, Hanzhi, et al.
Published: (2024)

Gait Optimization for Legged Systems Through Mixed Distribution Cross-Entropy Optimization
by: Tsikelis, Ioannis, et al.
Published: (2024)

Closed-Loop Control and Disturbance Mitigation of an Underwater Multi-Segment Continuum Manipulator
by: Walker, Kyle L., et al.
Published: (2025)

Safe and Efficient Lane-Changing for Autonomous Vehicles: An Improved Double Quintic Polynomial Approach with Time-to-Collision Evaluation
by: Bai, Rui, et al.
Published: (2025)

Safety-Critical Control for Robotic Manipulators using Collision Cone Control Barrier Functions
by: Almeida, Lucas
Published: (2025)

Safe Force/Position Tracking Control via Control Barrier Functions for Floating Base Mobile Manipulator Systems
by: Sharifi, Maryam, et al.
Published: (2024)

No Minima, No Collisions: Combining Modulation and Control Barrier Function Strategies for Feasible Dynamic Collision Avoidance
by: Xue, Yifan, 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)

Underwater Motions Analysis and Control of a Coupling-Tiltable Unmanned Aerial-Aquatic Vehicle
by: Huang, Dongyue, et al.
Published: (2023)

A Predictive Cooperative Collision Avoidance for Multi-Robot Systems Using Control Barrier Function
by: Li, Xiaoxiao, et al.
Published: (2025)

Turning Circle-based Control Barrier Function for Efficient Collision Avoidance of Nonholonomic Vehicles
by: Lee, Changyu, et al.
Published: (2025)

Quadrotor Morpho-Transition: Learning vs Model-Based Control Strategies
by: Mandralis, Ioannis, et al.
Published: (2025)

Safe Legged Locomotion using Collision Cone Control Barrier Functions (C3BFs)
by: Tayal, Manan, et al.
Published: (2023)

Underactuated Biomimetic Autonomous Underwater Vehicle for Ecosystem Monitoring
by: Singh, Kaustubh, et al.
Published: (2025)

Safe and Performant Deployment of Autonomous Systems via Model Predictive Control and Hamilton-Jacobi Reachability Analysis
by: Wang, Hao, et al.
Published: (2025)

Safe Autonomy for Uncrewed Surface Vehicles Using Adaptive Control and Reachability Analysis
by: Mahesh, Karan, et al.
Published: (2024)

Barrier-Riccati Synthesis for Nonlinear Safe Control with Expanded Region of Attraction
by: Almubarak, Hassan, et al.
Published: (2025)

Collision-Free Navigation of Mobile Robots via Quadtree-Based Model Predictive Control
by: Ali, Osama Al Sheikh, et al.
Published: (2025)

A Learning-Based Model Predictive Contouring Control for Vehicle Evasive Manoeuvres
by: Bertipaglia, Alberto, et al.
Published: (2024)

Safe and Performant Controller Synthesis using Gradient-based Model Predictive Control and Control Barrier Functions
by: Singh, Aditya, et al.
Published: (2025)

Distributed Control Barrier Functions for Safe Multi-Vehicle Navigation in Heterogeneous USV Fleets
by: Paine, Tyler, et al.
Published: (2026)

A Parallel-in-Time Newton's Method for Nonlinear Model Predictive Control
by: Iacob, Casian, et al.
Published: (2024)

Model Predictive Control of Non-Holonomic Vehicles: Beyond Differential-Drive
by: Rosenfelder, Mario, et al.
Published: (2022)

Learning to Drift with Individual Wheel Drive: Maneuvering Autonomous Vehicle at the Handling Limits
by: Zhou, Yihan, et al.
Published: (2025)

Priority-Driven Safe Model Predictive Control Approach to Autonomous Driving Applications
by: Prignoli, Francesco, et al.
Published: (2025)