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Towards the Analytical Computation of Time-Optimal Trajectories of Unicycle Robots Within Corridor Environments
Sonia De Santis, Alejandro Astudillo, Wilm Decré, Jan Swevers
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Time-Optimal Model Predictive Control Using Feasibility Governors
Alvaro Florez, Alejandro Astudillo, Wilm Decré, Jan Swevers
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An Almost Feasible Sequential Linear Programming Algorithm
David Kiessling, Charlie Vanaret, Alejandro Astudillo, Wilm Decré, Jan Swevers
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Optimization-based Application Point Determination of External Wrench for Gravity Compensation of Space Manipulator
Junsik Kim, Gwangyeol Cha, Minchang Sung, Youngjin Choi, Alejandro Astudillo, Jan Swevers
Axis Kinematics Algorithm for Satellite Manipulator System in Orbital Motion
Junsik Kim, Youngjin Choi, Alejandro Astudillo, Jan Swevers, Jonghoon Park, Daehee Won
Rapid Deployment of Model Predictive Control for Robotic Systems: From IMPACT to ROS 2 Through Code Generation
Alejandro Astudillo, Alvaro Florez, Wilm Decré, Jan Swevers
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Analytical Planner and Replanner of Minimum-Time Trajectories for Unicycle Robots Moving in Corridors
Sonia De Santis, Alejandro Astudillo, Wilm Decré, Jan Swevers
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IMPACT: A Toolchain for Nonlinear Model Predictive Control Specification, Prototyping, and Deployment
We present IMPACT, a flexible toolchain for nonlinear model predictive control (NMPC) specification which reduces the engineering complexity of NMPC implementations by providing the user with an easy-to-use application programming interface, and with the flexibility of using multiple state-of-the-art tools and numerical optimization solvers for rapid prototyping of NMPC solutions.
Alvaro Florez, Alejandro Astudillo, Wilm Decré, Jan Swevers, Joris Gillis
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Anderson Accelerated Feasible Sequential Linear Programming
This paper proposes an accelerated version of Feasible Sequential Linear Programming (FSLP): the AA(d)-FSLP algorithm. FSLP preserves …
David Kiessling, Pieter Pas, Alejandro Astudillo, Panagiotis Patrinos, Jan Swevers
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An Optimal Open-Loop Strategy for Handling a Flexible Beam with a Robot Manipulator
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing …
Shamil Mamedov, Alejandro Astudillo, Daniele Ronzani, Wilm Decré, Jean-Philippe Noël, Jan Swevers
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