Zarif Cabrera
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View article: Safe Reference Tracking and Collision Avoidance for Taxiing Aircraft Using an MPC-CBF Framework
Safe Reference Tracking and Collision Avoidance for Taxiing Aircraft Using an MPC-CBF Framework Open
In this paper, we develop a framework for the automatic taxiing of aircraft between hangar and take-off given a graph-based model of an airport. We implement a high-level path-planning algorithm that models taxiway intersections as nodes i…