8 papers
Individual Minima-Informed Multi-Objective Model Predictive Control for Fixed Point Stabilization
Markus Herrmann-Wicklmayr, Kathrin FlaÃkamp
Multi-objective model predictive control (MOMPC) for fixed point stabilization requires an automated a priori decision-making (DM) mechanism to translate a high-level preference in…
The Indirect Method for Generating Libraries of Optimal Periodic Trajectories and Its Application to Economical Bipedal Walking
Maximilian Raff, Kathrin FlaÃkamp, C. David Remy
Trajectory optimization is an essential tool for generating efficient, dynamically consistent gaits in legged locomotion. This paper explores the indirect method of trajectory opti…
Non-Extreme Individual Minima for Improved Pareto Front Sampling Efficiency and Decision-Making
Markus Herrmann-Wicklmayr, Kathrin FlaÃkamp
In multi-objective optimization, the set of optimal trade-offs -- the Pareto front -- often contains regions that are extremely steep or flat. The Pareto optimal points in these re…
Efficient Collision-Avoidance Constraints for Ellipsoidal Obstacles in Optimal Control: Application to Path-Following MPC and UAVs
David Leprich, Mario Rosenfelder, Markus Herrmann-Wicklmayr +4
This article proposes a modular optimal control framework for local three-dimensional ellipsoidal obstacle avoidance, exemplarily applied to model predictive path-following control…
Neural network-enhanced integrators for simulating ordinary differential equations
Amine Othmane, Kathrin FlaÃkamp
Numerous applications necessitate the computation of numerical solutions to differential equations across a wide range of initial conditions and system parameters, which feeds the…
The impact of AI on engineering design procedures for dynamical systems
Kristin M. de Payrebrune, Kathrin FlaÃkamp, Tom Ströhla +19
Artificial intelligence (AI) is driving transformative changes across numerous fields, revolutionizing conventional processes and creating new opportunities for innovation. The dev…