9 citations · 12 across the 8 of their papers we have counts for
12 papers
Structure-Preserving Gaussian Processes Via Discrete Euler-Lagrange Equations
Jan-Hendrik Ewering, Kathrin Flaßkamp, Niklas Wahlström +2
In this paper, we propose Lagrangian Gaussian Processes (LGPs) for probabilistic and data-efficient learning of dynamics via discrete forced Euler-Lagrange equations. Importantly,…
Trim turnpikes for optimal control problems with symmetries
Kathrin Flaßkamp, Sofya Maslovskaya, Sina Ober-Blöbaum +1
Motivated by mechanical systems with symmetries, we focus on optimal control problems possessing symmetries. Following recent works, which generalized the classical concept of stat…
Optimization-based motion primitive automata for autonomous driving
Matheus V. A. Pedrosa, Patrick Scheffe, Bassam Alrifaee +1
Trajectory planning for autonomous cars can be addressed by primitive-based methods, which encode nonlinear dynamical system behavior into automata. In this paper, we focus on opti…
Globally convergent homotopies for discrete-time optimal control
Willem Esterhuizen, Kathrin Flaßkamp, Matthias Hoffmann +1
Homotopy methods are attractive due to their capability of solving difficult optimisation and optimal control problems. The underlying idea is to construct a homotopy, which may be…
Hamiltonian Neural Networks with Automatic Symmetry Detection
Eva Dierkes, Christian Offen, Sina Ober-Blöbaum +1
Recently, Hamiltonian neural networks (HNN) have been introduced to incorporate prior physical knowledge when learning the dynamical equations of Hamiltonian systems. Hereby, the s…
Multi-Objective Model-Predictive Control for Dielectric Elastomer Wave Harvesters
Matthias K. Hoffmann, Lennart Heib, Gianluca Rizzello +2
This contribution deals with multi-objective model-predictive control (MPC) of a wave energy converter (WEC) device concept, which can harvest energy from sea waves using a dielect…
Path Planning for Concentric Tube Robots: a Toolchain with Application to Stereotactic Neurosurgery
Matthias K. Hoffmann, Willem Esterhuizen, Karl Worthmann +1
We present a toolchain for solving path planning problems for concentric tube robots through obstacle fields. First, ellipsoidal sets representing the target area and obstacles are…
Manifold Turnpikes, Trims and Symmetries
Timm Faulwasser, Kathrin Flaßkamp, Sina Ober-Blöbaum +2
Classical turnpikes correspond to optimal steady states which are attractors of optimal control problems. In this paper, motivated by mechanical systems with symmetries, we general…
A Dissipativity Characterization of Velocity Turnpikes in Optimal Control Problems for Mechanical Systems
Timm Faulwasser, Kathrin Flaßkamp, Sina Ober-Blöbaum +1
Turnpikes have recently gained significant research interest in optimal control, since they allow for pivotal insights into the structure of solutions to optimal control problems.…
Towards Velocity Turnpikes in Optimal Control of Mechanical Systems
Timm Faulwasser, Kathrin Flaßkamp, Sina Ober-Blöbaum +1
The paper proposes first steps towards the formalization and characterization of time-varying turnpikes in optimal control of mechanical systems. We propose the concepts of velocit…
Symmetry and Motion Primitives in Model Predictive Control
Kathrin Flaßkamp, Sina Ober-Blöbaum, Karl Worthmann
Symmetries, e.g. rotational and translational invariances for the class of mechanical systems, allow to characterize solution trajectories of nonlinear dynamical systems. Thus, the…
Optimization Strategies for Real-Time Control of an Autonomous Melting Probe
Christian Meerpohl, Kathrin Flaßkamp, Christof Büskens
We present an optimization-based approach for trajectory planning and control of a maneuverable melting probe with a high number of binary control variables. The dynamics of the sy…