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4wids-vehicle

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nullspace_mpc

MizuhoAOKI / nullspace_mpc

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Nullspace MPC: A novel multi-objective control framework for explicitly handling task priorities, implemented in ROS Noetic for a Swerve Drive Robot.

robotics ros path-integral mpc autonomous-driving autonomous-vehicles quadratic-programming obstacle-avoidance swerve-drive omnidirectional ros-navigation model-predictive-control nmpc obstacle-avoidance-robot stochastic-optimal-control nonlinear-model-predictive-control mppi ros-noetic 4wids-vehicle nullspace-mpc
  • Updated Dec 8, 2025
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