8 citations · 26 across the 11 of their papers we have counts for
11 papers
Iterative Switching Time Optimization for Mixed-integer Optimal Control Problems
Ramin Abbasi-Esfeden, Wim Van Roy, Jan Swevers
This paper proposes an iterative method to solve Mixed-Integer Optimal Control Problems arising from systems with switched dynamics. The so-called relaxed problem plays a central r…
PV-OSIMr: A Lowest Order Complexity Algorithm for Computing the Delassus Matrix
Ajay Suresha Sathya, Wilm Decre, Jan Swevers
We present PV-OSIMr, an efficient algorithm for computing the Delassus matrix (also known as the inverse operational space inertia matrix) for a kinematic tree, with the lowest ord…
IMPACT: A Toolchain for Nonlinear Model Predictive Control Specification, Prototyping, and Deployment
Alvaro Florez, Alejandro Astudillo, Wilm Decré +2
We present IMPACT, a flexible toolchain for nonlinear model predictive control (NMPC) specification with automatic code generation capabilities. The toolchain reduces the engineeri…
MPC-based Motion Planning for Autonomous Truck-Trailer Maneuvering
Mathias Bos, Bastiaan Vandewal, Wilm Decré +1
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feas…
Anderson Accelerated Feasible Sequential Linear Programming
David Kiessling, Pieter Pas, Alejandro Astudillo +2
This paper proposes an accelerated version of Feasible Sequential Linear Programming (FSLP): the AA()-FSLP algorithm. FSLP preserves feasibility in all intermediate iterates by…
Safe Imitation Learning of Nonlinear Model Predictive Control for Flexible Robots
Shamil Mamedov, Rudolf Reiter, Seyed Mahdi Basiri Azad +4
Flexible robots may overcome some of the industry's major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. Ho…
Vibration Free Flexible Object Handling with a Robot Manipulator Using Learning Control
Daniele Ronzani, Shamil Mamedov, Jan Swevers
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions…
Evaluation of MPC-based Imitation Learning for Human-like Autonomous Driving
Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars +1
This work evaluates and analyzes the combination of imitation learning (IL) and differentiable model predictive control (MPC) for the application of human-like autonomous driving.…
An optimal open-loop strategy for handling a flexible beam with a robot manipulator
Shamil Mamedov, Alejandro Astudillo, Daniele Ronzani +3
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time o…
MPC-based Imitation Learning for Safe and Human-like Autonomous Driving
Flavia Sofia Acerbo, Jan Swevers, Tinne Tuytelaars +1
To ensure user acceptance of autonomous vehicles (AVs), control systems are being developed to mimic human drivers from demonstrations of desired driving behaviors. Imitation learn…
A Feasible Sequential Linear Programming Algorithm with Application to Time-Optimal Path Planning Problems
David Kiessling, Andrea Zanelli, Armin Nurkanović +5
In this paper, we propose a Feasible Sequential Linear Programming (FSLP) algorithm applied to time-optimal control problems (TOCP) obtained through direct multiple shooting discre…