5 papers · 1 filter
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…
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…