33 citations · 120 across the 22 of their papers we have counts for
29 papers
Mixed-integer flow formulations for motion planning and decision-making of networked multi-agent systems
Angelo Caregnato-Neto, Paul-Louis Delacour, Raf Van de Plas +2
This work investigates the use of flow-based connectivity maintenance constraints in mixed-integer linear programming (MILP) trajectory planning and decision-making models for netw…
Contact-Aware Incremental Model Predictive Control for an Underactuated Aerial Manipulator
Darwin Liu, Tamas Keviczky, Sihao Sun
We present a robust contact-aware control framework for aerial writing on an underactuated platform. The framework combines nonlinear model predictive control (NMPC) for accurate e…
Comfort-oriented driving: performance comparison between human drivers and motion planners
Yanggu Zheng, Barys Shyrokau, Tamas Keviczky
Motion planning is a fundamental component in automated vehicles. It influences the comfort and time efficiency of the ride. Despite a vast collection of studies working towards im…
Mitigating Motion Sickness with Optimization-based Motion Planning
Yanggu Zheng, Barys Shyrokau, Tamas Keviczky
The acceptance of automated driving is under the potential threat of motion sickness. It hinders the passengers' willingness to perform secondary activities. In order to mitigate m…
Reconfiguration of a satellite constellation in circular formation orbit with decentralized model predictive control
Tomas Pippia, Valentin Preda, Samir Bennani +1
Satellite constellation missions, consisting of a large number of spacecraft, are increasingly being launched or planned. Such missions require novel control approaches, in particu…
Distributed IDA-PBC for a Class of Nonholonomic Mechanical Systems
Anastasios Tsolakis, Tamas Keviczky
Nonholonomic mechanical systems encompass a large class of practically interesting robotic structures, such as wheeled mobile robots, space manipulators, and multi-fingered robot h…