4 papers · 1 filter
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…