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