5 citations · 12 across the 20 of their papers we have counts for
5 papers · 1 filter
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…
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…
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…
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 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…