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Ruben Van Parys
Katholieke Universiteit Leuven
Control engineeringModel predictive controlSpline (mathematics)Control theoryMotion planning
19Publications
5H-index
75Citations
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Publications 19
Newest
#1Ruben Van Parys (Katholieke Universiteit Leuven)H-Index: 5
#2Maarten Verbandt (Katholieke Universiteit Leuven)H-Index: 2
Last. Goele Pipeleers (Katholieke Universiteit Leuven)H-Index: 1
view all 4 authors...
Abstract This paper presents and experimentally validates an embedded linear model predictive control (MPC) approach that is particularly useful for implementation on resource-constrained embedded hardware. The MPC scheme is based on a real-time implementation of the proximal gradient method (PGM) and generates input signals with guaranteed constraint satisfaction. Given standard linear MPC assumptions, asymptotic stability of the resulting closed loop is proven. Applied to linear systems with s...
1 CitationsSource
#1Emanuele L. de Angelis (UNIBO: University of Bologna)H-Index: 8
#2Fabrizio Giulietti (UNIBO: University of Bologna)H-Index: 12
Last. Ruben Van Parys (Katholieke Universiteit Leuven)H-Index: 5
view all 5 authors...
Abstract This paper addresses a methodology for autonomous motion planning of multirotor aircraft in obstructed environments. The control strategy allows the vehicle to online generate quasi-optimal trajectories with limited computational load while performing collision avoidance tasks. The problem is formulated in a model-predictive control architecture in which motion planning and trajectory tracking processes are solved separately. The first process is based on a spline path planning approach...
1 CitationsSource
#1Deesh Dileep (Katholieke Universiteit Leuven)H-Index: 2
#2Ruben Van Parys (Katholieke Universiteit Leuven)H-Index: 5
Last. Wim Michiels (Katholieke Universiteit Leuven)H-Index: 34
view all 6 authors...
A methodology is proposed for the design of robust controllers for retarded and neutral-type time-delay systems, focusing on decentralised and overlapping fixed-order controllers for Multiple Input Multiple Output (MIMO) systems. The methodology is grounded in a direct optimisation approach and relies on the minimisation of spectral abscissa and H∞ cost functions, as a function of the controller or design parameters. First, an approach applicable to generic MIMO systems is presented, which impos...
3 CitationsSource
#1Tim Mercy (Katholieke Universiteit Leuven)H-Index: 3
#2Ruben Van Parys (Katholieke Universiteit Leuven)H-Index: 5
Last. Goele Pipeleers (Katholieke Universiteit Leuven)H-Index: 16
view all 3 authors...
Autonomous vehicles require a collision-free motion trajectory at every time instant. This brief presents an optimization-based method to calculate such trajectories for autonomous vehicles operating in an uncertain environment with moving obstacles. The proposed approach applies to linear system models, as well as to a particular class of nonlinear models, including industrially relevant vehicles, such as autonomous guided vehicles with front wheel, differential wheel, and rear-wheel steering. ...
18 CitationsSource
#1Ruben Van Parys (Core Laboratories)H-Index: 5
#2Maarten Verbandt (Core Laboratories)H-Index: 2
Last. Goele Pipeleers (Core Laboratories)H-Index: 1
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Factories of the future must be agile to adapt to rapidly changing customer needs, market volatility and shortened product life cycles. This requires flexibility in hardware and software at distinct levels of the factory and manufacturing process: multipurpose machines with fast change-overs, easy to use reconfigurable software and distributed decision-making are key. This paper leverages the new Industry 4.0 design principles to cope with these new manufacturing requirements: (i) distributed au...
Source
Jul 9, 2018 in AAMAS (Adaptive Agents and Multi-Agents Systems)
#1Ruben Van Parys (Katholieke Universiteit Leuven)H-Index: 5
#2Maarten Verbandt (Katholieke Universiteit Leuven)H-Index: 2
Last. Goele Pipeleers (Katholieke Universiteit Leuven)H-Index: 16
view all 7 authors...
This demonstration presents Flexonomy, a flexible autonomous system for distributed coordination, transportation and localisation in a lab-scale factory floor. It illustrates the use of multi-agent systems in manufacturing and leverages new Industry 4.0 design principles to cope with manufacturing requirements in factories of the future: rapidly changing customer needs, market volatility and shortened product life cycles. Three main contributions are identified: (i) distributed auction-based coo...
#1Ajay Sathya (Katholieke Universiteit Leuven)H-Index: 1
#2Pantelis Sopasakis (Katholieke Universiteit Leuven)H-Index: 12
Last. Παναγιώτης Κ. Πατρινός (Katholieke Universiteit Leuven)H-Index: 20
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We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic, possibly nonconvex, obstacles involving polytopes, ellipsoids, semialgebraic sets and generic sets described by a set of nonlinear inequalities. PANOC is particularly well-suited for embedded applications as it involves simple steps, its implementation comes w...
9 CitationsSource
#2Ruben Van Parys (Katholieke Universiteit Leuven)H-Index: 5
Last. Goele Pipeleers (Katholieke Universiteit Leuven)H-Index: 16
view all 3 authors...
This paper presents a control strategy for multiple vehicles that cooperatively transport a flexible payload. To this end, an algorithm is developed which generates optimal trajectories for the vehicles to follow. Solving an optimization problem composes the core of the algorithm. The problem is first decomposed over the vehicles using the Alternating Direction Method of Multipliers (ADMM) algorithm. This results in each vehicle solving a sub-problem to generate its own optimal trajectory. The a...
Source
#1Ruben Van Parys (Katholieke Universiteit Leuven)H-Index: 5
#2Goele Pipeleers (Katholieke Universiteit Leuven)H-Index: 16
This paper presents a real-time implementation of the proximal gradient method (PGM) in a model predictive control (MPC) setting. In each control update only one iteration of the PGM is performed, while a next update is warm-started using the solution of the previous one. When applied to linear time-invariant (LTI) systems with simple input constraints, the resulting control law becomes extremely simple and offers possibilities to obtain fast control rates even on resource-constrained hardware. ...
5 CitationsSource
#1Ruben Van Parys (Katholieke Universiteit Leuven)H-Index: 5
#2Goele Pipeleers (Katholieke Universiteit Leuven)H-Index: 16
This work presents a distributed model predictive control strategy for generating collision-free point-to-point motions for a formation of multiple vehicles. It extends a synchronous distributed model predictive control (DMPC) scheme presented in earlier work that allows violations of the formation requirement when necessary, for example to avoid suddenly appearing obstacles or to move through narrow passages. In order to obtain safe motion trajectories during these violations, the current paper...
4 CitationsSource
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