Zobrazeno 1 - 10
of 52
pro vyhledávání: '"Decre, Wilm"'
Publikováno v:
Volume 9, Issue 11, 2024
This paper introduces an efficient $\mathcal{O}(n)$ compute and memory complexity algorithm for globally optimal path planning on 2D Cartesian grids. Unlike existing marching methods that rely on approximate discretized solutions to the Eikonal equat
Externí odkaz:
http://arxiv.org/abs/2409.11545
Autor:
Kiessling, David, Baumgärtner, Katrin, Frey, Jonathan, Decré, Wilm, Swevers, Jan, Diehl, Moritz
This paper examines the question of finding feasible points to discrete-time optimal control problems. The optimization problem of finding a feasible trajectory is transcribed to an unconstrained optimal control problem. An efficient algorithm, calle
Externí odkaz:
http://arxiv.org/abs/2403.10115
This paper introduces a novel, lightweight method to solve the visibility problem for 2D grids. The proposed method evaluates the existence of lines-of-sight from a source point to all other grid cells in a single pass with no preprocessing and indep
Externí odkaz:
http://arxiv.org/abs/2403.06494
This paper presents a Nonlinear Model Predictive Control (NMPC) scheme targeted at motion planning for mechatronic motion systems, such as drones and mobile platforms. NMPC-based motion planning typically requires low computation times to be able to
Externí odkaz:
http://arxiv.org/abs/2402.06263
This paper proposes an almost feasible Sequential Linear Programming (afSLP) algorithm. In the first part, the practical limitations of previously proposed Feasible Sequential Linear Programming (FSLP) methods are discussed along with illustrative ex
Externí odkaz:
http://arxiv.org/abs/2401.13840
We present PV-OSIMr, an efficient algorithm for computing the Delassus matrix (also known as the inverse operational space inertia matrix) for a kinematic tree, with the lowest order computational complexity known in literature. PV-OSIMr is derived b
Externí odkaz:
http://arxiv.org/abs/2310.03676
We derive a family of efficient constrained dynamics algorithms by formulating an equivalent linear quadratic regulator (LQR) problem using Gauss principle of least constraint and solving it using dynamic programming. Our approach builds upon the pio
Externí odkaz:
http://arxiv.org/abs/2310.00688
Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints effectively and provide a high numerical robustness, but they are slow
Externí odkaz:
http://arxiv.org/abs/2303.16746
This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority of pick-an
Externí odkaz:
http://arxiv.org/abs/2303.10279
We present IMPACT, a flexible toolchain for nonlinear model predictive control (NMPC) specification with automatic code generation capabilities. The toolchain reduces the engineering complexity of NMPC implementations by providing the user with an ea
Externí odkaz:
http://arxiv.org/abs/2303.08850