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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…
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…