Preprint
Aug 2026
Safe and robust tube-based path-following for robot navigation
In this paper, we propose a new robust navigation framework for path following tasks in robots operating within unknown, cluttered environments. Our approach ensures reactive safety through obstacle avoidance and guaranteed convergence to a target path, while simultaneously mitigating the impact of unknown-but-bounded...
Arthur H. D. Nunes, V. M. Goncalves, G. Raffo et al.
· 1 citation