1 citations · 1 across the 5 of their papers we have counts for
5 papers
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…
Accelerated Multi-Modal Motion Planning Using Context-Conditioned Diffusion Models
Edward Sandra, Lander Vanroye, Dries Dirckx +3
Classical methods in robot motion planning, such as sampling-based and optimization-based methods, often struggle with scalability towards higher-dimensional state spaces and compl…
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…
ASAP-MPC: An Asynchronous Update Scheme for Online Motion Planning with Nonlinear Model Predictive Control
Dries Dirckx, Mathias Bos, Bastiaan Vandewal +3
This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based m…