From the 1 of 9 linked papers with an AI index.
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Optimal Path Planning of Airborne Wind Energy Systems with a Flexible Tether
Omid Heydarnia, Jolan Wauters, Tom Lefebvre +1
In this work, we establish an optimal control framework for airborne wind energy systems (AWESs) with flexible tethers. The AWES configuration, consisting of a six-degree-of-freedo…
Unifying Entropy Regularization in Optimal Control: From and Back to Classical Objectives via Iterated Soft Policies and Path Integral Solutions
Ajinkya Bhole, Mohammad Mahmoudi Filabadi, Guillaume Crevecoeur +1
This paper develops a unified perspective on several optimal control formulations through the lens of Kullback-Leibler (KL) regularization. We propose a central problem that separa…
Gaussian Process Dual MPC using Active Inference: An Autonomous Vehicle Usecase
Mohammad Mahmoudi Filabadi, Guillaume Crevecoeur, Tom Lefebvre
Designing controllers under uncertainty requires balancing the need to explore system dynamics with the requirement to maintain reliable control performance. Dual control addresses…
Deterministic Trajectory Optimization through Probabilistic Optimal Control
Mohammad Mahmoudi Filabadi, Tom Lefebvre, Guillaume Crevecoeur
In this article, we discuss two algorithms tailored to discrete-time deterministic finite-horizon nonlinear optimal control problems or so-called deterministic trajectory optimizat…