42 citations · 58 across the 6 of their papers we have counts for
3 papers · 1 filter
Online Motion Planning based on Nonlinear Model Predictive Control with Non-Euclidean Rotation Groups
Christoph Rösmann, Artemi Makarow, Torsten Bertram
This paper proposes a novel online motion planning approach to robot navigation based on nonlinear model predictive control. Common approaches rely on pure Euclidean optimization p…
Time-optimal control with direct collocation and variable discretization
Christoph Rösmann, Artemi Makarow, Torsten Bertram
This paper deals with time-optimal control of nonlinear continuous-time systems based on direct collocation. The underlying discretization grid is variable in time, as the time int…
Stabilizing Quasi-Time-Optimal Nonlinear Model Predictive Control with Variable Discretization
Christoph Rösmann, Artemi Makarow, Torsten Bertram
This paper deals with the development and analysis of novel time-optimal point-to-point model predictive control concepts for nonlinear systems. Recent approaches in the literature…