Curvature-Aware Model Predictive Contouring Control

This video is the attachment for the paper "Curvature-Aware Model Predictive Contouring Control", that has been accepted for publication in the Proceedings of the 2023 IEEE International Conference on Robotics and Automation (ICRA). We present a novel Curvature-Aware Model Predictive Contouring Control (CA-MPCC) formulation for mobile
robotics motion planning. We show our method in both simulations and experiments on a scaled-down car-like robot.
The authors are Lorenzo Lyons and Laura Ferranti, from the Reliable Robot Control Lab, Department of Cognitive Robotics, Delft University of Technology.
This research is supported by the NWO-TTW Veni project HARMONIA (no. 18165).

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Awesome! Is the code published on github? If yes, please share the link