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Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming

Angelo Caregnato-Neto, Marcos R. O. de A. Máximo, Rubens Junqueira Magalhães Afonso. Real-time motion planning and decision-making for a group of differential drive robots under connectivity constraints using robust MPC and mixed-integer programming. Advanced Robotics, 37(5):356-379, March 2023. [doi]

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