A Dual Forward-Backward Algorithm to Solve Convex Model Predictive Control for Obstacle Avoidance in a Logistics Scenario

Summary: Mobile manipulators have the potential to revolutionize modern agriculture, logistics, and manufacturing. The design of a ground-based mobile manipulator for automated structure assembly is presented, capable of autonomous localization, grasping, transportation, and deployment of construction material in a semi-structured environment. Efforts were made to ensure the system is invariant to lighting changes and self-contained, with the possibility of extending its perceptive radius through cooperation with an autonomous drone.