3 papers
math.OC2026
Exploiting Micro-Structure in the Generalized Riccati Recursion for Optimal Control
Louis Callens, Wilm Decré
Optimal Control Problems (OCPs) have been applied to a variety of applications. Such problems are often transcribed into a Nonlinear Program (NLP) for which solution methods typica…
cs.RO2026
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…
math.OC2026
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…