21 citations · 50 across the 18 of their papers we have counts for
4 papers · 1 filter
Real-Time-Feasible Collision-Free Motion Planning For Ellipsoidal Objects
Yunfan Gao, Florian Messerer, Niels van Duijkeren +2
Online planning of collision-free trajectories is a fundamental task for robotics and self-driving car applications. This paper revisits collision avoidance between ellipsoidal obj…
Stochastic Model Predictive Control with Optimal Linear Feedback for Mobile Robots in Dynamic Environments
Yunfan Gao, Florian Messerer, Niels van Duijkeren +1
Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties…
Fourth-order suboptimality of nominal model predictive control in the presence of uncertainty
Florian Messerer, Katrin Baumgärtner, Sergio Lucia +1
We investigate the suboptimality resulting from the application of nominal model predictive control (MPC) to a nonlinear discrete time stochastic system. The suboptimality is defin…
Fast System Level Synthesis: Robust Model Predictive Control using Riccati Recursions
Antoine P. Leeman, Johannes Köhler, Florian Messerer +3
System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algori…