# An obstacle avoidance model predictive control scheme for mobile robots subject to nonholonomic constraints: A sum-of-squares approach

> Research article (Journal of the Franklin Institute, 2015) · cited 24× · AI/ML

**Wikidata**: [openalex:W2018280292](https://www.wikidata.org/wiki/openalex:W2018280292)  
**Source**: https://4ort.xyz/entity/an-obstacle-avoidance-model-predictive-control-scheme-for-mobile-robots-subject-to-nonholonomic-constraints-a-sum-of-squ