Abstract: Online collision-free trajectory generation within a shared workspace is fundamental for most multirobot applications. However, many widely-used methods based on model predictive control ...

Some algorithms solve problems. This one changed civilization. From guiding satellites to securing your bank account, its influence reaches every corner of technology. It started with a simple insight ...

Abstract: This paper proposes a passivity-based Recursive Newton-Euler algorithm, abbreviated pRNE. The proposed pRNE algorithm solves the inverse dynamics under a ...