7 citations · 20 across the 13 of their papers we have counts for
5 papers · 1 filter
From Instantaneous to Predictive Control: A More Intuitive and Tunable MPC Formulation for Robot Manipulators
Johan Ubbink, Ruan Viljoen, Erwin Aertbeliën +2
Model predictive control (MPC) has become increasingly popular for the control of robot manipulators due to its improved performance compared to instantaneous control approaches. H…
Exact Wavefront Propagation for Globally Optimal One-to-All Path Planning on 2D Cartesian Grids
Ibrahim Ibrahim, Joris Gillis, Wilm Decré +1
This paper introduces an efficient compute and memory complexity algorithm for globally optimal path planning on 2D Cartesian grids. Unlike existing marching metho…
Fast Generation of Feasible Trajectories in Direct Optimal Control
David Kiessling, Katrin Baumgärtner, Jonathan Frey +3
This paper examines the question of finding feasible points to discrete-time optimal control problems. The optimization problem of finding a feasible trajectory is transcribed to a…
An Efficient Solution to the 2D Visibility Problem in Cartesian Grid Maps and its Application in Heuristic Path Planning
Ibrahim Ibrahim, Joris Gillis, Wilm Decré +1
This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to…
An Almost Feasible Sequential Linear Programming Algorithm
David Kiessling, Charlie Vanaret, Alejandro Astudillo +2
This paper proposes an almost feasible Sequential Linear Programming (afSLP) algorithm. In the first part, the practical limitations of previously proposed Feasible Sequential Line…