1 citations · 1 across the 12 of their papers we have counts for
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Real-Time Multi-Convex Model Predictive Control for Occlusion Free Target Tracking
Houman Masnavi, Vivek Adajania, Karl Kruusamae +1
This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational t…
GPU Accelerated Batch Multi-Convex Trajectory Optimization for a Rectangular Holonomic Mobile Robot
Fatemeh Rastgar, Houman Masnavi, Karl Kruusamäe +2
We present a batch trajectory optimizer that can simultaneously solve hundreds of different instances of the problem in real-time. We consider holonomic robots but relax the assump…
Embedded Hardware Appropriate Fast 3D Trajectory Optimization for Fixed Wing Aerial Vehicles by Leveraging Hidden Convex Structures
Vivek Kantilal Adajania, Houman Masnavi, Fatemeh Rastgar +2
Most commercially available fixed-wing aerial vehicles (FWV) can carry only small, lightweight computing hardware such as Jetson TX2 onboard. Solving non-linear trajectory optimiza…
Multi-Modal Model Predictive Control through Batch Non-Holonomic Trajectory Optimization: Application to Highway Driving
Vivek K. Adajania, Aditya Sharma, Anish Gupta +3
Standard Model Predictive Control (MPC) or trajectory optimization approaches perform only a local search to solve a complex non-convex optimization problem. As a result, they cann…