10 citations · 55 across the 19 of their papers we have counts for
11 papers · 1 filter
Hidden convexity property of a speed planning problem
Stefano Ardizzoni, Luca Consolini, Mattia Laurini +1
In this paper we address the speed planning problem for a vehicle along a predefined path. A weighted average of two (conflicting) terms, energy consumption and travel time, is min…
Speed planning by minimizing travel time and energy consumption
Stefano Ardizzoni, Luca Consolini, Mattia Laurini +1
In this paper we address the speed planning problem for a vehicle over an assigned path with the aim of minimizing a weighted sum of travel time and energy consumption under suitab…
Identification of Cyclists' Route Choice Criteria
Stefano Ardizzoni, Mattia Laurini, Rafael Praxedes +2
The behavior of cyclists when choosing the path to follow along a road network is not uniform. Some of them are mostly interested in minimizing the travelled distance, but some oth…
Is time-optimal speed planning under jerk constraints a convex problem?
Luca Consolini, Marco Locatelli
We consider the speed planning problem for a vehicle moving along an assigned trajectory, under maximum speed, tangential and lateral acceleration, and jerk constraints. The proble…
Local Optimization of MAPF solutions on Directed Graphs
S. Ardizzoni, I. Saccani, L. Consolini +1
Among sub-optimal MAPF solvers, rule-based algorithms are particularly appealing since they are complete. Even in crowded scenarios, they allow finding a feasible solution that bri…
Sharp and fast bounds for the Celis-Dennis-Tapia problem
Luca Consolini, Marco Locatelli
In the Celis-Dennis-Tapia (CDT) problem a quadratic function is minimized over a region defined by two strictly convex quadratic constraints. In this paper we re-derive a necessary…
Structured identification for network reconstruction of RC-models
Gabriele Calzavara, Luca Consolini, Juxhino Kavaja
Resistive-capacitive (RC) networks are used to model various processes in engineering, physics or biology. We consider the problem of recovering the network connection structure fr…
Graph-based algorithms for the efficient solution of a class of optimization problems
Luca Consolini, Mattia Laurini, Marco Locatelli
In this paper, we address a class of specially structured problems that include speed planning, for mobile robots and robotic manipulators, and dynamic programming. We develop two…
A solution of the minimum-time velocity planning problem based on lattice theory
Luca Consolini, Mattia Laurini, Marco Locatelli +1
For a vehicle on an assigned path, we find the minimum-time speed law that satisfies kinematic and dynamic constraints, related to maximum speed and maximum tangential and transver…
A coordinate-free theory of virtual holonomic constraints
Luca Consolini, Alessandro Costalunga, Manfredi Maggiore
This paper presents a coordinate-free formulation of virtual holonomic constraints for underactuated Lagrangian control systems on Riemannian manifolds. It is shown that when a vir…
Control of a Bicycle Using Virtual Holonomic Constraints
Luca Consolini, Manfredi Maggiore
The paper studies the problem of making Getz's bicycle model traverse a strictly convex Jordan curve with bounded roll angle and bounded speed. The approach to solving this problem…