2 citations · 2 across the 10 of their papers we have counts for
10 papers
Gaussian Process Dual MPC using Active Inference: An Autonomous Vehicle Usecase
Mohammad Mahmoudi Filabadi, Guillaume Crevecoeur, Tom Lefebvre
Designing controllers under uncertainty requires balancing the need to explore system dynamics with the requirement to maintain reliable control performance. Dual control addresses…
Unifying Entropy Regularization in Optimal Control: From and Back to Classical Objectives via Iterated Soft Policies and Path Integral Solutions
Ajinkya Bhole, Mohammad Mahmoudi Filabadi, Guillaume Crevecoeur +1
This paper develops a unified perspective on several optimal control formulations through the lens of Kullback-Leibler (KL) regularization. We propose a central problem that separa…
How to Capture Human Preference: Commissioning of a Robotic Use-Case via Preferential Bayesian Optimisation
Sander De Witte, Jeroen Taets, Andras Retzler +2
The popularity of Bayesian Optimization (BO) to automate or support the commissioning of engineering systems is rising. Conventional BO, however, relies on the availability of a sc…
Differential Flatness of Quasi-Static Slider-Pusher Models with Applications in Control
Sander De Witte, Tom Lefebvre, Thomas Neve +2
This paper investigates the dynamic properties of planar slider-pusher systems as a motion primitive in manipulation tasks. To that end, we construct a differential kinematic model…
Learning On The Job: Zero-Shot Task Execution under Parametric Uncertainty via Trajectory-Parametrized Dual Control
Victor Vantilborgh, Hrishikesh Sathyanarayan, Guillaume Crevecoeur +2
Model-based control can achieve reliable task performance, but its effectiveness depends on the accuracy of the underlying model. Robots operating under model uncertainty must ofte…
Probabilistic Latent Variable Modeling for Dynamic Friction Identification and Estimation
Victor Vantilborgh, Sander De Witte, Frederik Ostyn +2
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains…
Introducing DAIMYO: a first-time-right dynamic design architecture and its application to tail-sitter UAS development
Jolan Wauters, Tom Lefebvre, Joris Degroote +2
In recent years, there has been a notable evolution in various multidisciplinary design methodologies for dynamic systems. Among these approaches, a noteworthy concept is that of c…
Optimal Path Planning of Airborne Wind Energy Systems with a Flexible Tether
Omid Heydarnia, Jolan Wauters, Tom Lefebvre +1
In this work, we establish an optimal control framework for airborne wind energy systems (AWESs) with flexible tethers. The AWES configuration, consisting of a six-degree-of-freedo…
Deterministic Trajectory Optimization through Probabilistic Optimal Control
Mohammad Mahmoudi Filabadi, Tom Lefebvre, Guillaume Crevecoeur
In this article, we discuss two algorithms tailored to discrete-time deterministic finite-horizon nonlinear optimal control problems or so-called deterministic trajectory optimizat…
Variational Inference for SDEs Driven by Fractional Noise
Rembert Daems, Manfred Opper, Guillaume Crevecoeur +1
We present a novel variational framework for performing inference in (neural) stochastic differential equations (SDEs) driven by Markov-approximate fractional Brownian motion (fBM)…