Xiao-Bin Zhang

Mobile Multi-Robot Navigation under Runtime Uncertainty via Koopman Operator Learning and Nonlinear Model Predictive Control

In this work, we developed a nonlinear model predictive control (NMPC) framework that employs learned dynamics via the Koopman Operator theory for mobile multi-robot navigation. We formulated and solved NMPC problems using a lifted bilinear Koopman-based model that accurately predicts affine input systems affected by p...