Zobrazeno 1 - 10
of 696
pro vyhledávání: '"Messerer, P."'
Online planning of collision-free trajectories is a fundamental task for robotics and self-driving car applications. This paper revisits collision avoidance between ellipsoidal objects using differentiable constraints. Two ellipsoids do not overlap i
Externí odkaz:
http://arxiv.org/abs/2409.12007
Robot navigation around humans can be a challenging problem since human movements are hard to predict. Stochastic model predictive control (MPC) can account for such uncertainties and approximately bound the probability of a collision to take place.
Externí odkaz:
http://arxiv.org/abs/2407.14220
We investigate the suboptimality resulting from the application of nominal model predictive control (MPC) to a nonlinear discrete time stochastic system. The suboptimality is defined with respect to the corresponding stochastic optimal control proble
Externí odkaz:
http://arxiv.org/abs/2403.04559
Autor:
Leeman, Antoine P., Köhler, Johannes, Messerer, Florian, Lahr, Amon, Diehl, Moritz, Zeilinger, Melanie N.
System level synthesis enables improved robust MPC formulations by allowing for joint optimization of the nominal trajectory and controller. This paper introduces a tailored algorithm for solving the corresponding disturbance feedback optimization pr
Externí odkaz:
http://arxiv.org/abs/2401.13762
Autor:
Frey, Jonathan, Gao, Yunfan, Messerer, Florian, Lahr, Amon, Zeilinger, Melanie, Diehl, Moritz
Robust and stochastic optimal control problem (OCP) formulations allow a systematic treatment of uncertainty, but are typically associated with a high computational cost. The recently proposed zero-order robust optimization (zoRO) algorithm mitigates
Externí odkaz:
http://arxiv.org/abs/2311.04557
Autor:
Tim Jonas Hallenberger, Urs Fischer, Leo Hermann Bonati, Gilles Dutilh, Rosine Mucklow, Andrea Sarti Vogt, Claudia Boeni-Eckstein, Andrea Cardia, Gerrit A. Schubert, Phillipe Bijlenga, Mahmoud Messerer, Andreas Raabe, Kevin Akeret, Christian Zweifel, Jens Kuhle, Alex Alfieri, Jean-Yves Fournier, Javier Fandino, Isabel Charlotte Hostettler, Ulf Christoph Schneider, Raphael Guzman, Jehuda Soleman
Publikováno v:
Trials, Vol 25, Iss 1, Pp 1-21 (2024)
Abstract Background Spontaneous supratentorial intracerebral hemorrhage is the deadliest form of stroke with mortality rates over 50%. Currently, no sufficiently effective treatment to improve both mortality and functional outcome rates exists. Howev
Externí odkaz:
https://doaj.org/article/1f7fb84de96940eb8083d1b238383f00
We present a method for the approximate propagation of mean and covariance of a probability distribution through ordinary differential equations (ODE) with discontinous right-hand side. For piecewise affine systems, a normalization of the propagated
Externí odkaz:
http://arxiv.org/abs/2308.03431
This paper presents an implementation of robust model predictive control (MPC) for collision-free reference trajectory tracking for mobile robots. The presented approach considers the robot motion to be subject to process noise bounded by ellipsoidal
Externí odkaz:
http://arxiv.org/abs/2306.17445
We revisit three classical numerical methods for solving unconstrained optimal control problems - multiple shooting, single shooting, and differential dynamic programming - and examine their local convergence behaviour. In particular, we show that al
Externí odkaz:
http://arxiv.org/abs/2301.04047
In this paper we introduce an open-source software package written in C++ for efficiently finding solutions to quadratic programming problems with linear complementarity constraints. These problems arise in a wide range of applications in engineering
Externí odkaz:
http://arxiv.org/abs/2211.16341