Abstract:This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourthorder dynamics that change instantaneously at any pick-up or drop-off of an object. The objects are modeled by point masses with a-priori unknown locations in a bounded two-dimensional space that may contain unknown obstacles. For this hybrid system, an Optimal Control Problem (OCP) is approximately solved by a receding horizon scheme,… Show more
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