4 papers
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…
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…