4 papers · 1 filter
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…
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…
Stochastic Model Predictive Control with Optimal Linear Feedback for Mobile Robots in Dynamic Environments
Yunfan Gao, Florian Messerer, Niels van Duijkeren +1
Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties…
A Long-Short-Term Mixed-Integer Formulation for Highway Lane Change Planning
Rudolf Reiter, Armin Nurkanovic, Daniele Bernadini +2
This work considers the problem of optimal lane changing in a structured multi-agent road environment. A novel motion planning algorithm that can capture long-horizon dependencies…