19 citations · 46 across the 13 of their papers we have counts for
13 papers
Path Planning and Motion Control for Accurate Positioning of Car-like Robots
Jin Dai, Zejiang Wang, Yebin Wang +2
This paper investigates the planning and control for accurate positioning of car-like robots. We propose a solution that integrates two modules: a motion planner, facilitated by th…
Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning
Rudolf Reiter, Rien Quirynen, Moritz Diehl +1
Mixed-integer quadratic programs (MIQPs) are a versatile way of formulating vehicle decision making and motion planning problems, where the prediction model is a hybrid dynamical s…
Progressive Smoothing for Motion Planning in Real-Time NMPC
Rudolf Reiter, Katrin Baumgärtner, Rien Quirynen +1
Nonlinear model predictive control (NMPC) is a popular strategy for solving motion planning problems, including obstacle avoidance constraints, in autonomous driving applications.…
Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning
Sleiman Safaoui, Abraham P. Vinod, Ankush Chakrabarty +3
We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon…
Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning
Rien Quirynen, Sleiman Safaoui, Stefano Di Cairano
We develop a real-time feasible mixed-integer programming-based decision making (MIP-DM) system for automated driving. Using a linear vehicle model in a road-aligned coordinate fra…
Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles
Sean Vaskov, Rien Quirynen, Marcel Menner +1
This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller…
Tailored Presolve Techniques in Branch-and-Bound Method for Fast Mixed-Integer Optimal Control Applications
Rien Quirynen, Stefano Di Cairano
Mixed-integer model predictive control (MI-MPC) can be a powerful tool for modeling hybrid control systems. In case of a linear-quadratic objective in combination with linear or pi…
PRESAS: Block-Structured Preconditioning of Iterative Solvers within a Primal Active-Set Method for fast MPC
Rien Quirynen, Stefano Di Cairano
Model predictive control (MPC) for linear dynamical systems requires solving an optimal control structured quadratic program (QP) at each sampling instant. This paper proposes a pr…
acados: a modular open-source framework for fast embedded optimal control
Robin Verschueren, Gianluca Frison, Dimitris Kouzoupis +7
This paper presents the acados software package, a collection of solvers for fast embedded optimization intended for fast embedded applications. Its interfaces to higher-level lang…
Approximate Dynamic Programming For Linear Systems with State and Input Constraints
Ankush Chakrabarty, Rien Quirynen, Claus Danielson +1
Enforcing state and input constraints during reinforcement learning (RL) in continuous state spaces is an open but crucial problem which remains a roadblock to using RL in safety-c…
A Structure Exploiting Branch-and-Bound Algorithm for Mixed-Integer Model Predictive Control
Pedro Hespanhol, Rien Quirynen, Stefano Di Cairano
Mixed-integer model predictive control (MI-MPC) requires the solution of a mixed-integer quadratic program (MIQP) at each sampling instant under strict timing constraints, where pa…
Adjoint-based SQP Method with Block-wise quasi-Newton Jacobian Updates for Nonlinear Optimal Control
Pedro Hespanhol, Rien Quirynen
Nonlinear model predictive control~(NMPC) generally requires the solution of a non-convex optimization problem at each sampling instant under strict timing constraints, based on a…
Robust MPC via Min-Max Differential Inequalities
Mario E. Villanueva, Rien Quirynen, Moritz Diehl +2
This paper is concerned with tube-based model predictive control (MPC) for both linear and nonlinear, input-affine continuous-time dynamic systems that are affected by time-varying…