7 papers
Hypergeometric Bridges for Multidimensional Grid Visibility
Ibrahim Ibrahim, Wilm Decré
Established interpolation-based methods efficiently compute visibility from one source to every grid cell using values computed closer to the source. Interpolation yields fractiona…
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…
Safe Polytope-in-Polytope Motion Planning and Control with Control Barrier Functions
Alejandro Gonzalez-Garcia, Dries Dirckx, Jan Swevers +1
Autonomous mobile robots operating in tight environments require motion planning frameworks that account for the physical footprint of the robot. Simplifying the geometry to a poin…
Accelerated Spline-Based Time-Optimal Motion Planning with Continuous Safety Guarantees for Non-Differentially Flat Systems
Dries Dirckx, Jan Swevers, Wilm Decré
Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity…
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…
Fast Motion Planning for Non-Holonomic Mobile Robots via a Rectangular Corridor Representation of Structured Environments
Alejandro Gonzalez-Garcia, Sebastiaan Wyns, Sonia De Santis +2
We present a complete framework for fast motion planning of non-holonomic autonomous mobile robots in highly complex but structured environments. Conventional grid-based planners s…
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…