2 citations · 2 across the 2 of their papers we have counts for
Showing 2023Show all
2 papers · 1 filter
cs.RO2023
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…
math.OC2023
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…