3 papers
cs.RO2025
Accelerated Reeds-Shepp and Under-Specified Reeds-Shepp Algorithms for Mobile Robot Path Planning
Ibrahim Ibrahim, Wilm Decré, Jan Swevers
In this study, we present a simple and intuitive method for accelerating optimal Reeds-Shepp path computation. Our approach uses geometrical reasoning to analyze the behavior of op…
math.OC2024
A Generalization of the Riccati Recursion for Equality-Constrained Linear Quadratic Optimal Control
Lander Vanroye, Joris De Schutter, Wilm Decré
This paper introduces a generalization of the well-known Riccati recursion for solving the discrete-time equality-constrained linear quadratic optimal control problem. The recursio…
cs.RO2024
From Instantaneous to Predictive Control: A More Intuitive and Tunable MPC Formulation for Robot Manipulators
Johan Ubbink, Ruan Viljoen, Erwin Aertbeliën +2
Model predictive control (MPC) has become increasingly popular for the control of robot manipulators due to its improved performance compared to instantaneous control approaches. H…