arXiv (OAI Expanded)
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Mobile Multi-Robot Navigation under Runtime Uncertainty via Koopman Operator Learning and Nonlinear Model Predictive Control
In this work, we developed a nonlinear model predictive control (NMPC) framework that employs learned dynamics via the Koopman Operator theory for mobile multi-robot navigation. We formulated and solved NMPC problems using a lifted bilinear Koopman-based model that accurately predicts affine input s
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