7 accepted papers
This work proposes an optimal control scheme for a trajectory-tracking Automated Guided Vehicle considering motion and collision constraints in a warehouse environment. We outline how the simpler obstacle avoidance constraints in the Cartesian Coordinate Frame (CCF) can be retained, while projecting…
Flexible robots may overcome some of the industry’s major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to their complex dynamics, which include oscillatory behavior and…
The tunnel-following nonlinear model predictive control (NMPC) scheme allows to exploit acceptable deviations around a path reference. This is done by using convex-over-nonlinear functions as objective and constraints in the underlying optimal control problem (OCP). The convex-over-nonlinear structu
We propose kernel distributionally robust optimization (Kernel DRO) using insights from the robust optimization theory and functional analysis. Our method uses reproducing kernel Hilbert spaces (RKHS) to construct a wide range of convex ambiguity sets, which can be generalized to sets based on integ…
Even though mobile robots have been around for decades, trajectory optimization and continuous time collision avoidance remain subject of active research. Existing methods trade off between path quality, computational complexity, and kinodynamic feasibility. This work approaches the problem using a…
Homotopy methods, also known as continuation methods, are a powerful mathematical tool to efficiently solve various problems in numerical analysis, including complex non-convex optimization problems where no or only little prior knowledge regarding the localization of the solutions is available. In…
This paper introduces a family of iterative algorithms for unconstrained nonlinear optimal control. We generalize the well-known iLQR algorithm to different multiple shooting variants, combining advantages like straightforward initialization and a closed-loop forward integration. All algorithms have…