8 citations · 14 across the 21 of their papers we have counts for
10 papers · 1 filter
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…
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…
Introducing DAIMYO: a first-time-right dynamic design architecture and its application to tail-sitter UAS development
Jolan Wauters, Tom Lefebvre, Joris Degroote +2
In recent years, there has been a notable evolution in various multidisciplinary design methodologies for dynamic systems. Among these approaches, a noteworthy concept is that of c…
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…
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…
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…