5 citations · 12 across the 20 of their papers we have counts for
20 papers
Distributed Motion Planning with Safety Guarantees for Self-Reconfiguring Robotic Boats
Alejandro Gonzalez-Garcia, Wei Wang, Wei Xiao +4
Aquatic self-reconfigurable robots must assemble into desired shapes while ensuring safe interactions among multiple agents. This paper proposes a hybrid framework that combines di…
Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions
Alejandro Gonzalez-Garcia, Dries Dirckx, Jan Swevers +1
Autonomous mobile robots operating in tight environments require motion planning frameworks that account for the physical footprint of the robot. Simplifying the geometry to a poin…
Accelerated Spline-Based Time-Optimal Motion Planning with Continuous Safety Guarantees for Non-Differentially Flat Systems
Dries Dirckx, Jan Swevers, Wilm Decré
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity…
Multi-Agent Motion Planning on Industrial Magnetic Levitation Platforms: A Hybrid ADMM-HOCBF approach
Bavo Tistaert, Stan Servaes, Alejandro Gonzalez-Garcia +4
This paper presents a novel hybrid motion planning method for holonomic multi-agent systems. The proposed decentralised model predictive control (MPC) framework tackles the intract…
Fast Motion Planning for Non-Holonomic Mobile Robots via a Rectangular Corridor Representation of Structured Environments
Alejandro Gonzalez-Garcia, Sebastiaan Wyns, Sonia De Santis +2
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners s…
Fast Near Time-Optimal Motion Planning for Holonomic Vehicles in Structured Environments
Louis Callens, Bastiaan Vandewal, Ibrahim Ibrahim +2
This paper proposes a novel and efficient optimization-based method for generating near time-optimal trajectories for holonomic vehicles navigating through complex but structured e…
Accelerated Multi-Modal Motion Planning Using Context-Conditioned Diffusion Models
Edward Sandra, Lander Vanroye, Dries Dirckx +3
Classical methods in robot motion planning, such as sampling-based and optimization-based methods, often struggle with scalability towards higher-dimensional state spaces and compl…
Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels
Alejandro Gonzalez-Garcia, Wei Xiao, Wei Wang +5
Safe motion planning is essential for autonomous vessel operations, especially in challenging spaces such as narrow inland waterways. However, conventional motion planning approach…
Inland-LOAM: Voxel-Based Structural Semantic LiDAR Odometry and Mapping for Inland Waterway Navigation
Zhongbi Luo, Yunjia Wang, Jan Swevers +2
Accurate geospatial information is crucial for safe, autonomous Inland Waterway Transport (IWT), as existing charts (IENC) lack real-time detail and conventional LiDAR SLAM fails i…
Decoupling Collision Avoidance in and for Optimal Control using Least-Squares Support Vector Machines
Dries Dirckx, Wilm Decré, Jan Swevers
This paper details an approach to linearise differentiable but non-convex collision avoidance constraints tailored to convex shapes. It revisits introducing differential collision…
Accelerated Reeds-Shepp and Under-Specified Reeds-Shepp Algorithms for Mobile Robot Path Planning
Ibrahim Ibrahim, Wilm Decré, Jan Swevers
In this study, we present a simple and intuitive method for accelerating optimal Reeds-Shepp path computation. Our approach uses geometrical reasoning to analyze the behavior of op…
Robustified Time-optimal Point-to-point Motion Planning and Control under Uncertainty
Shuhao Zhang, Jan Swevers
This paper proposes a novel approach to formulate time-optimal point-to-point motion planning and control under uncertainty. The approach defines a robustified two-stage Optimal Co…
An Efficient Mixed-Integer Formulation and an Iterative Method for Optimal Control of Switched Systems Under Dwell Time Constraints
Ramin Abbasi-Esfeden, Armin Nurkanovic, Moritz Diehl +2
This paper presents an efficient Mixed-Integer Nonlinear Programming (MINLP) formulation for systems with discrete control inputs under dwell time constraints. By viewing such syst…
Exact Wavefront Propagation for Globally Optimal One-to-All Path Planning on 2D Cartesian Grids
Ibrahim Ibrahim, Joris Gillis, Wilm Decré +1
This paper introduces an efficient compute and memory complexity algorithm for globally optimal path planning on 2D Cartesian grids. Unlike existing marching metho…
ASAP-MPC: An Asynchronous Update Scheme for Online Motion Planning with Nonlinear Model Predictive Control
Dries Dirckx, Mathias Bos, Bastiaan Vandewal +3
This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based m…
Time-optimal Point-to-point Motion Planning: A Two-stage Approach
Shuhao Zhang, Jan Swevers
This paper proposes a two-stage approach to formulate the time-optimal point-to-point motion planning problem, involving a first stage with a fixed time grid and a second stage wit…
Fast Generation of Feasible Trajectories in Direct Optimal Control
David Kiessling, Katrin Baumgärtner, Jonathan Frey +3
This paper examines the question of finding feasible points to discrete-time optimal control problems. The optimization problem of finding a feasible trajectory is transcribed to a…
An Efficient Solution to the 2D Visibility Problem in Cartesian Grid Maps and its Application in Heuristic Path Planning
Ibrahim Ibrahim, Joris Gillis, Wilm Decré +1
This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to…
An Almost Feasible Sequential Linear Programming Algorithm
David Kiessling, Charlie Vanaret, Alejandro Astudillo +2
This paper proposes an almost feasible Sequential Linear Programming (afSLP) algorithm. In the first part, the practical limitations of previously proposed Feasible Sequential Line…
PRIEST: Projection Guided Sampling-Based Optimization For Autonomous Navigation
Fatemeh Rastgar, Houman Masnavi, Basant Sharma +3
Efficient navigation in unknown and dynamic environments is crucial for expanding the application domain of mobile robots. The core challenge stems from the nonavailability of a fe…