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Active visual SLAM using potential fields and model predictive control
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DOI：10.1016/j.conengprac.2026.106897.png)
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Abstract
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• Integrated Active Visual SLAM combining potential fields and MPC. • Online MPC for collision-free, constraint-compliant, and utility-optimized motion. • Real-world experiments with a non-holonomic robot. • Successful autonomous exploration of unknown environment. • Reactive adaptation to dynamic environments.
Keywords:
Construction robotics
Autonomous mobile robots
Trajectory and path planning
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