98 citations · 412 across the 57 of their papers we have counts for
7 papers · 1 filter
Direct Collocation Methods for Trajectory Optimization in Constrained Robotic Systems
Ricard Bordalba, Tobias Schoels, Lluís Ros +2
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may al…
A Hierarchical Approach for Strategic Motion Planning in Autonomous Racing
Rudolf Reiter, Jasper Hoffmann, Joschka Boedecker +1
We present an approach for safe trajectory planning, where a strategic task related to autonomous racing is learned sample-efficient within a simulation environment. A high-level p…
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…
Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control
Alessandro Saviolo, Jonathan Frey, Abhishek Rathod +2
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in the presence…
An Efficient Real-Time NMPC for Quadrotor Position Control under Communication Time-Delay
Barbara Barros Carlos, Tommaso Sartor, Andrea Zanelli +4
The advances in computer processor technology have enabled the application of nonlinear model predictive control (NMPC) to agile systems, such as quadrotors. These systems are char…
CIAO: MPC-based Safe Motion Planning in Predictable Dynamic Environments
Tobias Schoels, Per Rutquist, Luigi Palmieri +3
Robots have been operating in dynamic environments and shared workspaces for decades. Most optimization based motion planning methods, however, do not consider the movement of othe…