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math.OC2025
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…
math.OC2023★ 8 cited
IMPACT: A Toolchain for Nonlinear Model Predictive Control Specification, Prototyping, and Deployment
Alvaro Florez, Alejandro Astudillo, Wilm Decré +2
We present IMPACT, a flexible toolchain for nonlinear model predictive control (NMPC) specification with automatic code generation capabilities. The toolchain reduces the engineeri…