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Flatness-based MPC for underactuated surface vessels in confined areas
A two-phase model predictive controller (MPC) is proposed for underactuated surface vessel operation in confined environments.
On the Dual Implementation of Collision-Avoidance Constraints in Path-Following MPC for Underactuated Surface Vessels
Collision-avoidance is ensured by means of the signed distance function which is calculated efficiently as part of the MPC problem by making use of a dual formulation.
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