@inproceedings{lyons_l_curvature-aware_2023,
	title = {Curvature-{Aware} {Model} {Predictive} {Contouring} {Control}},
	url = {paper=https://r2clab.com/wp-content/uploads/2023/02/Lyons_ICRA_2023.pdf  video=https://www.youtube.com/watch?v=6-E3I99D2sc},
	abstract = {We present a novel Curvature-Aware Model Predictive Contouring Control (CA-MPCC) formulation for mobile
robotics motion planning. Our method aims at generalizing
the traditional contouring control formulation derived from
machining to autonomous driving applications. The proposed
controller is able of handling sharp curvatures in the reference
path while subject to non-linear constraints, such as lane
boundaries and dynamic obstacle collision avoidance. Compared to a standard MPCC formulation, our method improves
the reliability of the path-following algorithm and simplifies the
tuning, while preserving real-time capabilities. We validate our
findings in both simulations and experiments on a scaled-down
car-like robot.},
	booktitle = {2023 {IEEE} {International} {Conference} on {Robotics} and {Automation} ({ICRA})},
	author = {{Lyons, L.} and {Ferranti, L.}},
	year = {2023},
	keywords = {key\_automotive, key\_collision\_avoidance, key\_motion\_planning, key\_mpc},
}

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