28 citations · 32 across the 6 of their papers we have counts for
9 papers
MPC without Terminal Ingredients Tailored to the SEIR Compartmental Epidemic Model
Willem Esterhuizen, Philipp Sauerteig, Stefan Streif +1
We consider the SEIR compartmental epidemic model subject to state and input constraints (a cap on the proportion of infectious individuals and limits on the allowed social distanc…
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…
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…
Model Predictive Control Tailored to Epidemic Models
Philipp Sauerteig, Willem Esterhuizen, Mitsuru Wilson +3
We propose a model predictive control (MPC) approach for minimising the social distancing and quarantine measures during a pandemic while maintaining a hard infection cap. To this…
On MPC without terminal conditions for dynamic non-holonomic robots
Franz Rußwurm, Willem Esterhuizen, Karl Worthmann +1
We consider an input-constrained differential-drive robot with actuator dynamics. For this system, we establish asymptotic stability of the origin on arbitrary compact, convex sets…
How much testing and social distancing is required to control COVID-19? Some insight based on an age-differentiated compartmental model
Sara Grundel, Stefan Heyder, Thomas Hotz +3
In this paper, we provide insights on how much testing and social distancing is required to control COVID-19. To this end, we develop a compartmental model that accounts for key as…