53 citations · 97 across the 16 of their papers we have counts for
5 papers · 1 filter
Flatness-based MPC using B-splines transcription with application to a Pusher-Slider System
Thomas Neve, Tom Lefebvre, Sander De Witte +1
This work discusses the use of model predictive control (MPC) for the manipulation of a pusher-slider system. In particular we leverage the differential flatness of the pusher-slid…
Risk Sensitive Path Integral Control for Infinite Horizon Problem Formulations
Tom Lefebvre, Guillaume Crevecoeur
Path Integral Control methods were developed for stochastic optimal control covering a wide class of finite horizon formulations with control affine nonlinear dynamics. Characteris…
On Entropy Regularized Path Integral Control for Trajectory Optimization
Tom Lefebvre, Guillaume Crevecoeur
In this article we present a generalised view on Path Integral Control (PIC) methods. PIC refers to a particular class of policy search methods that are closely tied to the setting…
Polynomial Chaos reformulation in Nonlinear Stochastic Optimal Control with application on a drivetrain subject to bifurcation phenomena
Tom Lefebvre, Frederik De Belie, Guillaume Crevecoeur
This paper discusses a method enabling optimal control of nonlinear systems that are subject to parametric uncertainty. A stochastic optimal tracking problem is formulated that can…
A Radial Basis Function based Optimization Algorithm with Regular Simplex set geometry in Ellipsoidal Trust-Regions
Tom Lefebvre, Frederik De Belie, Guillaume Crevecoeur
We present a novel derivative-free interpolation based optimization algorithm. A trust-region method is used where a surrogate model is realized via an interpolation framework. The…