2 citations · 2 across the 5 of their papers we have counts for
5 papers
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.…
Safe multi-agent motion planning under uncertainty for drones using filtered reinforcement learning
Sleiman Safaoui, Abraham P. Vinod, Ankush Chakrabarty +3
We consider the problem of safe multi-agent motion planning for drones in uncertain, cluttered workspaces. For this problem, we present a tractable motion planner that builds upon…
Real-time Mixed-Integer Quadratic Programming for Vehicle Decision Making and Motion Planning
Rien Quirynen, Sleiman Safaoui, Stefano Di Cairano
We develop a real-time feasible mixed-integer programming-based decision making (MIP-DM) system for automated driving. Using a linear vehicle model in a road-aligned coordinate fra…
Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles
Sean Vaskov, Rien Quirynen, Marcel Menner +1
This paper addresses the trajectory-tracking problem under uncertain road-surface conditions for autonomous vehicles. We propose a stochastic nonlinear model predictive controller…
Robust MPC via Min-Max Differential Inequalities
Mario E. Villanueva, Rien Quirynen, Moritz Diehl +2
This paper is concerned with tube-based model predictive control (MPC) for both linear and nonlinear, input-affine continuous-time dynamic systems that are affected by time-varying…