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pro vyhledávání: '"Pipeleers, Goele"'
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
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
Autor:
Sathya, Ajay, Sopasakis, Pantelis, Van Parys, Ruben, Themelis, Andreas, Pipeleers, Goele, Patrinos, Panagiotis
Publikováno v:
European Control Conference (ECC'18), pp.1523-1528, Cyprus, 2018
We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic, possibly n
Externí odkaz:
http://arxiv.org/abs/1904.10546
This paper presents a novel model predictive control strategy for controlling autonomous motion systems moving through an environment with obstacles of general shape. In order to solve such a generic non-convex optimization problem and find a feasibl
Externí odkaz:
http://arxiv.org/abs/1805.02524
Publikováno v:
In IFAC PapersOnLine 2022 55(37):345-352
Autor:
Astudillo, Alejandro *, Sathya, Ajay *, Dirckx, Dries *, Decré, Wilm *, Gillis, Joris *, Pipeleers, Goele *, Swevers, Jan *
Publikováno v:
In IFAC PapersOnLine 2022 55(27):120-125
Akademický článek
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Publikováno v:
In Automatica May 2021 127
Publikováno v:
In IFAC PapersOnLine 2021 54(20):78-83
Autor:
Tod, Georges, Ompusunggu, Agusmian Partogi, Struyf, Gunther, Pipeleers, Goele, Grave, Kurt De, Hostens, Erik
Publikováno v:
In Procedia CIRP 2021 104:1559-1564