Reactive 3D Motion Planning in Dynamic Environments Using Efficient Model Predictive Control via Circular Fields

Fabrice Zeug; Sarah Kleinjohann; Torsten Lilge; Marvin Becker; Matthias A. Müller

doi:10.1109/IROS60139.2025.11247111

Reactive 3D Motion Planning in Dynamic Environments Using Efficient Model Predictive Control via Circular Fields

Fabrice Zeug
, Sarah Kleinjohann
, Torsten Lilge
, Marvin Becker
, Matthias A. Müller

Institute of Automatic Control

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Original language	English
Title of host publication	2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Pages	5840-5847
Number of pages	8
ISBN (Electronic)	979-8-3315-4393-8
DOIs	https://doi.org/10.1109/IROS60139.2025.11247111
Publication status	Published - 19 Oct 2025

Keywords

Three-dimensional displays
Dynamics
Optimal control
Real-time systems
Planning
Trajectory
Mobile robots
Collision avoidance
Manipulator dynamics
Predictive control

Access to Document

10.1109/IROS60139.2025.11247111

Cite this

@inproceedings{a3f4893b4ece4a178ba80ca635d7be97,

title = "Reactive 3D Motion Planning in Dynamic Environments Using Efficient Model Predictive Control via Circular Fields",

keywords = "Three-dimensional displays, Dynamics, Optimal control, Real-time systems, Planning, Trajectory, Mobile robots, Collision avoidance, Manipulator dynamics, Predictive control",

author = "Fabrice Zeug and Sarah Kleinjohann and Torsten Lilge and Marvin Becker and M{\"u}ller, \{Matthias A.\}",

year = "2025",

month = oct,

day = "19",

doi = "10.1109/IROS60139.2025.11247111",

language = "English",

isbn = "979-8-3315-4394-5",

pages = "5840--5847",

booktitle = "2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

}

Reactive 3D Motion Planning in Dynamic Environments Using Efficient Model Predictive Control via Circular Fields. / Zeug, Fabrice; Kleinjohann, Sarah; Lilge, Torsten et al.
2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2025. p. 5840-5847.

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

TY - GEN

T1 - Reactive 3D Motion Planning in Dynamic Environments Using Efficient Model Predictive Control via Circular Fields

AU - Zeug, Fabrice

AU - Kleinjohann, Sarah

AU - Lilge, Torsten

AU - Becker, Marvin

AU - Müller, Matthias A.

PY - 2025/10/19

Y1 - 2025/10/19

KW - Three-dimensional displays

KW - Dynamics

KW - Optimal control

KW - Real-time systems

KW - Planning

KW - Trajectory

KW - Mobile robots

KW - Collision avoidance

KW - Manipulator dynamics

KW - Predictive control

U2 - 10.1109/IROS60139.2025.11247111

DO - 10.1109/IROS60139.2025.11247111

M3 - Conference contribution

SN - 979-8-3315-4394-5

SP - 5840

EP - 5847

BT - 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

ER -