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  • Diederik Verscheure, Bram Demeulenaere, Jan Swevers, Joris De Schutter, Moritz Diehl
  • Computer Science, Mathematics
  • IEEE Transactions on Automatic Control
  • 2009 (First Publication: 1 October 2009)
  • This paper focuses on time-optimal path tracking, a subproblem in time-optimal motion planning of robot systems. Through a nonlinear change of variables, the time-optimal path tracking problem isContinue Reading
  • Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja D. Mombaur, Moritz Diehl
  • Engineering, Computer Science
  • Adv. Robotics
  • 2010 (First Publication: 1 January 2010)
  • The goal of this paper is to demonstrate the capacity of model predictive control (MPC) to generate stable walking motions without the use of predefined footsteps. Building up on well-known MPCContinue Reading
  • Dinh Quoc Tran, Suat Gumussoy, Wim Michiels, Moritz Diehl
  • Mathematics, Computer Science
  • IEEE Transactions on Automatic Control
  • 2012 (First Publication: 15 September 2011)
  • A novel optimization method is proposed to minimize a convex function subject to bilinear matrix inequality (BMI) constraints. The key idea is to decompose the bilinear mapping as a differenceContinue Reading