3 papers
math.OC2026
Riccati-ZORO: An efficient algorithm for heuristic online optimization of internal feedback laws in robust and stochastic model predictive control
Florian Messerer, Yunfan Gao, Jonathan Frey +1
We present Riccati-ZORO, an algorithm for tube-based optimal control problems (OCP). Tube OCPs predict a tube of trajectories to capture predictive uncertainty. The tube induces a…
cs.RO2026
Semi-Infinite Programming for Collision-Avoidance in Optimal and Model Predictive Control
Yunfan Gao, Florian Messerer, Niels van Duijkeren +2
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the ro…
cs.RO2025
Real-Time-Feasible Collision-Free Motion Planning For Ellipsoidal Objects
Yunfan Gao, Florian Messerer, Niels van Duijkeren +2
Online planning of collision-free trajectories is a fundamental task for robotics and self-driving car applications. This paper revisits collision avoidance between ellipsoidal obj…