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Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills
We present Tasho (Task specification for receding horizon control), an open-source Python toolbox that facilitates systematic …
Ajay Sathya, Alejandro Astudillo, Joris Gillis, Wilm Decré, Goele Pipeleers, Jan Swevers
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A Web-Based Graphical User Interface for Programming Optimal Control Based Robot Motion Tasks
The programming of complex tasks with robot manipulators faces the challenges of complying to constraints and needing to account for …
Alejandro Astudillo, Ajay Sathya, Dries Dirckx, Wilm Decré, Joris Gillis, Goele Pipeleers, Jan Swevers
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Varying-Radius Tunnel-Following NMPC for Robot Manipulators Using Sequential Convex Quadratic Programming
The tunnel-following nonlinear model predictive control (NMPC) scheme for robot manipulators allows the definition of tasks where …
Alejandro Astudillo, Goele Pipeleers, Joris Gillis, Wilm Decré, Jan Swevers
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Speed-Up of Nonlinear Model Predictive Control for Robot Manipulators Using Task and Data Parallelism
The repetitive evaluation of computationally expensive functions in the objective and constraints represents a bottleneck in the …
Alejandro Astudillo, Joris Gillis, Goele Pipeleers, Wilm Decré, Jan Swevers
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Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot Manipulators
In the context of nonlinear model predictive control (NMPC) for robot manipulators, we address the problem of enabling the mixed and …
Alejandro Astudillo, Justin Carpentier, Joris Gillis, Goele Pipeleers, Jan Swevers
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Towards an open toolchain for fast nonlinear MPC for serial robots
This paper presents an open toolchain tailored for deployment of nonlinear model predictive control for serial robots. The toolchain provides a direct workflow from problem definition to solution deployment on a serial robot based on open-source software.
Alejandro Astudillo, Joris Gillis, Wilm Decré, Goele Pipeleers, Jan Swevers
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Towards an open toolchain for fast nonlinear MPC for serial robots
Fast model predictive control on a smartphone-based flight controller
Several attempts have been made to execute control of a system using only a smartphone’s processor running computationally …
Luis Garcia, Alejandro Astudillo, Esteban Rosero
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Silvereye, sistema electrónico para el análisis de la marcha humana en el plano sagital a partir de sensores inerciales
This work proposes an electronic system, Silvereye, focused on the analysis of human gait kinematics based on inertial sensors. This …
Juan Luna, Alejandro Astudillo, Esteban Rosero, Fabio Guerrero
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Optimal and robust controllers design for a smartphone-based quadrotor
In this paper, a flight control system for a smartphone-based quadrotor is proposed. The sensing, the state estimation and control …
Alejandro Astudillo, Bladimir Bacca, Esteban Rosero
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Altitude and attitude cascade controller for a smartphone-based quadcopter
This paper presents the design and implementation of Android-based cascade PID controller structures to control the altitude and …
Alejandro Astudillo, Pedro Muñoz, Fredy Álvarez, Esteban Rosero
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