3 papers
math.OC2026
Real-Time Algorithms for Model Predictive Control of Hybrid Dynamical Systems
Armin Nurkanović, Anton Pozharskiy, Moritz Diehl
Model predictive control (MPC) of hybrid dynamical systems is challenging because the associated optimization problem is nonsmooth and the resulting feedback law is discontinuous.…
cs.RO2024
Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning
Rudolf Reiter, Rien Quirynen, Moritz Diehl +1
Mixed-integer quadratic programs (MIQPs) are a versatile way of formulating vehicle decision making and motion planning problems, where the prediction model is a hybrid dynamical s…
eess.SY2024
Progressive Smoothing for Motion Planning in Real-Time NMPC
Rudolf Reiter, Katrin Baumgärtner, Rien Quirynen +1
Nonlinear model predictive control (NMPC) is a popular strategy for solving motion planning problems, including obstacle avoidance constraints, in autonomous driving applications.…