Výsledky vyhledávání - "Gillis, Joris"

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Exact Wavefront Propagation for Globally Optimal One-to-All Path Planning on 2D Cartesian Grids

Autor: Ibrahim, Ibrahim, Gillis, Joris, Decré, Wilm, Swevers, Jan

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

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An Efficient Solution to the 2D Visibility Problem in Cartesian Grid Maps and its Application in Heuristic Path Planning

Autor: Ibrahim, Ibrahim, Gillis, Joris, Decré, Wilm, Swevers, Jan

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

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IMPACT: A Toolchain for Nonlinear Model Predictive Control Specification, Prototyping, and Deployment

Autor: Florez, Alvaro, Astudillo, Alejandro, Decré, Wilm, Swevers, Jan, Gillis, Joris

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

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A Feasible Sequential Linear Programming Algorithm with Application to Time-Optimal Path Planning Problems

Autor: Kiessling, David, Zanelli, Andrea, Nurkanović, Armin, Gillis, Joris, Diehl, Moritz, Zeilinger, Melanie, Pipeleers, Goele, Swevers, Jan

In this paper, we propose a Feasible Sequential Linear Programming (FSLP) algorithm applied to time-optimal control problems (TOCP) obtained through direct multiple shooting discretization. This method is motivated by TOCP with nonlinear constraints

Externí odkaz: http://arxiv.org/abs/2205.00754

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