6 papers
Active Safety System for Semi-Autonomous Teleoperated Vehicles
Smit Saparia, Andreas Schimpe, Laura Ferranti
Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, n…
Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments
O. de Groot, B. Brito, L. Ferranti +2
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the m…
DeepKoCo: Efficient latent planning with a task-relevant Koopman representation
Bas van der Heijden, Laura Ferranti, Jens Kober +1
This paper presents DeepKoCo, a novel model-based agent that learns a latent Koopman representation from images. This representation allows DeepKoCo to plan efficiently using linea…
Model Predictive Contouring Control for Collision Avoidance in Unstructured Dynamic Environments
Bruno Brito, Boaz Floor, Laura Ferranti +1
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimiza…
An Improved Primal-Dual Interior Point Solver for Model Predictive Control
X. Zhang, L. Ferranti, T. Keviczky
We propose a primal-dual interior-point (PDIP) method for solving quadratic programming problems with linear inequality constraints that typically arise form MPC applications. We s…
A Parallel Dual Fast Gradient Method for MPC Applications
Laura Ferranti, Tamas Keviczky
We propose a parallel adaptive constraint-tightening approach to solve a linear model predictive control problem for discrete-time systems, based on inexact numerical optimization…