相关论文: Towards a Framework for Nonlinear Predictive Contr…

We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…

In this paper, we present a novel solution for real-time, Non-Linear Model Predictive Control (NMPC) exploiting a time-mesh refinement strategy. The proposed controller formulates the Optimal Control Problem (OCP) in terms of flat outputs…

Modern advanced manufacturing and advanced materials design often require searches of relatively high-dimensional process control parameter spaces for settings that result in optimal structure, property, and performance parameters. The…

We investigate structured sparsity methods for variable selection in regression problems where the target depends nonlinearly on the inputs. We focus on general nonlinear functions not limiting a priori the function space to additive…

In this work, we propose a novel missile guidance algorithm that combines deep learning based trajectory prediction with nonlinear model predictive control. Although missile guidance and threat interception is a well-studied problem,…

We present a decentralized minimum-time trajectory optimization scheme based on learning model predictive control for multi-agent systems with nonlinear decoupled dynamics and coupled state constraints. By performing the same task…

Trajectory prediction is crucial for the reliability and safety of autonomous driving systems, yet it remains a challenging task in complex interactive scenarios due to noisy trajectory observations and intricate agent interactions.…

Many real-world multi-agent systems exhibit nonlinear dynamics and complex inter-agent interactions. As these systems increase in scale, the main challenges arise from achieving scalability and handling nonconvexity. To address these…

This paper presents fast non-sampling based methods to assess the risk for trajectories of autonomous vehicles when probabilistic predictions of other agents' futures are generated by deep neural networks (DNNs). The presented methods…

A new method is developed for solving optimal control problems whose solutions are nonsmooth. The method developed in this paper employs a modified form of the Legendre-Gauss-Radau orthogonal direct collocation method. This modified…

In this paper we present a convex formulation of the Model Predictive Control (MPC) optimisation for energy management in hybrid electric vehicles, and an Alternating Direction Method of Multipliers (ADMM) algorithm for its solution. We…

Planning safe trajectories in Autonomous Driving Systems (ADS) is a complex problem to solve in real-time. The main challenge to solve this problem arises from the various conditions and constraints imposed by road geometry, semantics and…

This paper proposes an optimization-based approach to predict trajectories of autonomous race cars. We assume that the observed trajectory is the result of an optimization problem that trades off path progress against acceleration and jerk…

Model predictive control (MPC) has established itself as the primary methodology for constrained control, enabling general-purpose robot autonomy in diverse real-world scenarios. However, for most problems of interest, MPC relies on the…

Autonomous driving vehicles aim to free the hands of vehicle operators, helping them to drive easier and faster, meanwhile, improving the safety of driving on the highway or in complex scenarios. Automated driving systems (ADS) are…

Transferring solutions found by trajectory optimization to robotic hardware remains a challenging task. When the optimization fully exploits the provided model to perform dynamic tasks, the presence of unmodeled dynamics renders the motion…

This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…

Aerodynamic design optimization is an important problem in aircraft design that depends on the interplay between a numerical optimizer and a high-fidelity flow physics solver. Derivative-based, first and (quasi) second order, optimization…

Differential Dynamic Programming (DDP) is an efficient computational tool for solving nonlinear optimal control problems. It was originally designed as a single shooting method and thus is sensitive to the initial guess supplied. This work…

Driving on the limits of vehicle dynamics requires predictive planning of future vehicle states. In this work, a search-based motion planning is used to generate suitable reference trajectories of dynamic vehicle states with the goal to…