8 citations · 26 across the 11 of their papers we have counts for
7 papers · 1 filter
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…
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…
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…