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Robot Safe Navigation Framework Combining Flow Matching and Model Predictive Control

This framework combines flow-matching-based path planning with model predictive path-following control for mobile robot navigation. The flow matching model captures multimodal path distributions, while the predictive controller satisfies state and input constraints online and avoids obstacles, and event-triggered replanning feeds control solutions back into subsequent path generation. Simulation results show that the framework performs robustly in cluttered environments.

Part of the event: A navigation framework combining flow matching and model predictive control is proposed

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