3 papers
cs.RO2024
Path Planning and Motion Control for Accurate Positioning of Car-like Robots
Jin Dai, Zejiang Wang, Yebin Wang +2
This paper investigates the planning and control for accurate positioning of car-like robots. We propose a solution that integrates two modules: a motion planner, facilitated by th…
cs.RO2024
Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning
Rudolf Reiter, Rien Quirynen, Moritz Diehl +1
Mixed-integer quadratic programs (MIQPs) are a versatile way of formulating vehicle decision making and motion planning problems, where the prediction model is a hybrid dynamical s…
eess.SY2024
Progressive Smoothing for Motion Planning in Real-Time NMPC
Rudolf Reiter, Katrin Baumgärtner, Rien Quirynen +1
Nonlinear model predictive control (NMPC) is a popular strategy for solving motion planning problems, including obstacle avoidance constraints, in autonomous driving applications.…