From 335f9a857f57cda6a3ec45c5dced8c3e597e9a4f Mon Sep 17 00:00:00 2001 From: Alejandro ASTUDILLO VIGOYA Date: Sun, 28 Jul 2024 01:15:04 +0200 Subject: [PATCH] minor --- 404.html | 8 +- event/index.html | 120 +- event/index.xml | 10 +- index.html | 109 +- index.json | 3 +- index.xml | 10 +- sitemap.xml | 10 +- .../index.html | 1325 +++++++++++++++++ 8 files changed, 1582 insertions(+), 13 deletions(-) create mode 100644 talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/index.html diff --git a/404.html b/404.html index d32a134..f456cb5 100644 --- a/404.html +++ b/404.html @@ -664,12 +664,14 @@

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Recent & Upcoming Talks

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diff --git a/event/index.xml b/event/index.xml index 54a776d..78f9e49 100644 --- a/event/index.xml +++ b/event/index.xml @@ -5,13 +5,21 @@ https://alejandroastudillo.github.io/event/ Recent & Upcoming Talks - Wowchemy (https://wowchemy.com)en-usThu, 08 Jun 2023 17:15:00 +0200 + Wowchemy (https://wowchemy.com)en-usTue, 16 Jul 2024 10:00:00 -0400 https://alejandroastudillo.github.io/media/icon_hud665afb12f4cc26e22130f72ce760bd4_7192_512x512_fill_lanczos_center_3.png Recent & Upcoming Talks https://alejandroastudillo.github.io/event/ + + Workshop on optimal control problems and model predictive control for autonomous systems + https://alejandroastudillo.github.io/talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/ + Tue, 16 Jul 2024 10:00:00 -0400 + https://alejandroastudillo.github.io/talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/ + + + Avances en la aplicación industrial del control predictivo basado en modelos para sistemas robóticos: Mejora de la eficiencia computacional y facilitación de la implementación https://alejandroastudillo.github.io/talk/avances-en-la-aplicacion-industrial-del-control-predictivo-basado-en-modelos-para-sistemas-roboticos-mejora-de-la-eficiencia-computacional-y-facilitacion-de-la-implementacion/ diff --git a/index.html b/index.html index 3601cad..a5f3bda 100644 --- a/index.html +++ b/index.html @@ -341,7 +341,7 @@ - + @@ -1627,6 +1627,113 @@

Recent & Upcoming Talks

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+ Workshop on optimal control problems and model predictive control for autonomous systems +
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+ In this workshop, participants will engage in hands-on exploration of optimal control problems (OCPs) applied to motion planning and … +
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+ + Jul 16, 2024 10:00 AM — Jul 17, 2024 3:15 PM + + + + OCP/MPC Workshop 2024 - MIT MISTI + +
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diff --git a/index.json b/index.json index f932ab3..829d544 100644 --- a/index.json +++ b/index.json @@ -23,4 +23,5 @@ - [{"authors":null,"categories":null,"content":"Alejandro Astudillo received his B.Sc. degree in Electronics Engineering and his M.Sc. degree in Automation Engineering from Universidad del Valle, Colombia, in 2015 and 2017, respectively. He joined the MECO Research Team at KU Leuven as a PhD researcher in 2018. His research interests focus on strategies for reducing the engineering effort and the computational burden of real time motion planning and model predictive control of robotic and complex mechatronic systems.\n Download my resumé. -- ","date":1687866774,"expirydate":-62135596800,"kind":"term","lang":"en","lastmod":1687866774,"objectID":"2525497d367e79493fd32b198b28f040","permalink":"","publishdate":"0001-01-01T00:00:00Z","relpermalink":"","section":"authors","summary":"Alejandro Astudillo received his B.Sc. degree in Electronics Engineering and his M.Sc. degree in Automation Engineering from Universidad del Valle, Colombia, in 2015 and 2017, respectively. He joined the MECO Research Team at KU Leuven as a PhD researcher in 2018.","tags":null,"title":"Alejandro Astudillo","type":"authors"},{"authors":["Alejandro Astudillo","Edna Avella-Rodríguez","Gloria Arango-Hoyos","Jose Ramirez-Scarpetta","Esteban Rosero"],"categories":[],"content":"","date":1687866774,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1687866774,"objectID":"81f14a0c703fd0006436a12b7742a929","permalink":"https://alejandroastudillo.github.io/publication/gait-monitoring/","publishdate":"2023-06-28T13:52:54+02:00","relpermalink":"/publication/gait-monitoring/","section":"publication","summary":"","tags":[],"title":"Smartphone-Based Wearable Gait Monitoring System Using Wireless Inertial Sensors","type":"publication"},{"authors":[],"categories":null,"content":"","date":1686237300,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1686237300,"objectID":"7defcf4ce64563dc83c3bb5a2bb3e385","permalink":"https://alejandroastudillo.github.io/talk/avances-en-la-aplicacion-industrial-del-control-predictivo-basado-en-modelos-para-sistemas-roboticos-mejora-de-la-eficiencia-computacional-y-facilitacion-de-la-implementacion/","publishdate":"2023-05-31T15:54:22+02:00","relpermalink":"/talk/avances-en-la-aplicacion-industrial-del-control-predictivo-basado-en-modelos-para-sistemas-roboticos-mejora-de-la-eficiencia-computacional-y-facilitacion-de-la-implementacion/","section":"event","summary":"","tags":[],"title":"Avances en la aplicación industrial del control predictivo basado en modelos para sistemas robóticos: Mejora de la eficiencia computacional y facilitación de la implementación","type":"event"},{"authors":[],"categories":null,"content":"","date":1684162800,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1684162800,"objectID":"ad74e1284c79d600c3b3150f521eaa4e","permalink":"https://alejandroastudillo.github.io/talk/advancing-the-industrial-application-of-model-predictive-control-for-robot-manipulators-improving-computational-efficiency-and-facilitating-implementation/","publishdate":"2023-04-17T09:05:46+02:00","relpermalink":"/talk/advancing-the-industrial-application-of-model-predictive-control-for-robot-manipulators-improving-computational-efficiency-and-facilitating-implementation/","section":"event","summary":"The implementation of robotic applications is currently facing various control challenges that simple controllers fail to address, e.g., systems are increasingly complex, need to comply with constraints and need to account for several, sometimes conflicting performance objectives. Model predictive control (MPC) is an advanced control technique that explicitly accounts for all these challenges by considering system models and solving constrained optimization problems in real-time at every control step. However, wide adoption of MPC in complex robotic applications is impeded by two issues. First, low-level drivers in robotic systems require input updates at high frequency, typically in the order of 1 kHz, which is a control frequency that is difficult to meet for MPC due to its inherent computational complexity. Second, MPC development and deployment is not straightforward and comes with a high engineering cost because proper tools are missing. This work addresses both issues, reducing the computational complexity of MPC implementations for robotic applications and reducing the engineering time required for its deployment. It covers (i) the use of efficient formulations of robot dynamics and their analytical derivatives, (ii) the mixed and transparent use of such analytical derivatives and algorithmic differentiation within an optimization framework, (iii) the efficient evaluation of computationally expensive functions in nonlinear programs by means of task- and data-level parallelization, and (iv) the efficient implementation of numerical optimization algorithms that accelerate the solution of the underlying optimal control problem. Moreover, it consolidates these advances within an easy-to-use, open-source framework that defines a direct workflow from problem definition to robot-based solution deployment. These developments help bridge the gap between advanced optimization-based controllers, like MPC, and complex robotic applications.","tags":[],"title":"Advancing the industrial application of model predictive control for robot manipulators: Improving computational efficiency and facilitating implementation","type":"event"},{"authors":["Alejandro Astudillo"],"categories":[],"content":"","date":1684162800,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1684162800,"objectID":"3bbaff791be1d67f99d1269bde41adc9","permalink":"https://alejandroastudillo.github.io/publication/phd-thesis/","publishdate":"2023-05-25T14:40:14+02:00","relpermalink":"/publication/phd-thesis/","section":"publication","summary":"The implementation of robotic applications is currently facing various control challenges that simple controllers fail to address, e.g., systems are increasingly complex, need to comply with constraints and need to account for several, sometimes conflicting performance objectives. Model predictive control (MPC) is an advanced control technique that explicitly accounts for all these challenges by considering system models and solving constrained optimization problems in real-time at every control step. However, wide adoption of MPC in complex robotic applications is impeded by its high computational and engineering complexity. This work addresses both issues, reducing the computational complexity of MPC implementations for robotic applications and reducing the engineering time required for its deployment. This research is supported by an MPC toolchain development in order to integrate all software in an open and modular fashion as to create a workflow from problem specification to deployment. The developments are validated computationally and experimentally on industrial robotic set-ups in the lab.","tags":[],"title":"Advancing the Industrial Application of Model Predictive Control for Robot Manipulators: Improving Computational Efficiency and Facilitating Implementation","type":"publication"},{"authors":[],"categories":null,"content":"","date":1683880200,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1683880200,"objectID":"6db4c8e574582a0a0d3ee97a62e43a3a","permalink":"https://alejandroastudillo.github.io/talk/towards-real-time-mpc-of-robotic-systems-with-full-dynamic-models-results-challenges-and-opportunities/","publishdate":"2023-03-13T10:17:48+01:00","relpermalink":"/talk/towards-real-time-mpc-of-robotic-systems-with-full-dynamic-models-results-challenges-and-opportunities/","section":"event","summary":"","tags":[],"title":"Towards real-time MPC of robotic systems with full dynamic models: results, challenges, and opportunities","type":"event"},{"authors":["Alvaro Florez","Alejandro Astudillo","Wilm Decré","Jan Swevers","Joris Gillis"],"categories":[],"content":"","date":1677866643,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1677866643,"objectID":"d48605d209f0bd43ec128ef7e0a719f0","permalink":"https://alejandroastudillo.github.io/publication/impact/","publishdate":"2023-03-03T19:04:03+01:00","relpermalink":"/publication/impact/","section":"publication","summary":"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.","tags":[],"title":"IMPACT: A Toolchain for Nonlinear Model Predictive Control Specification, Prototyping, and Deployment","type":"publication"},{"authors":["David Kiessling","Pieter Pas","Alejandro Astudillo","Panagiotis Patrinos","Jan Swevers"],"categories":[],"content":"","date":1677865302,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1677865302,"objectID":"9d6bf9d9795819822fcb394a4a20d538","permalink":"https://alejandroastudillo.github.io/publication/anderson-accelerated-fslp/","publishdate":"2023-03-03T18:04:03+01:00","relpermalink":"/publication/anderson-accelerated-fslp/","section":"publication","summary":"This paper proposes an accelerated version of Feasible Sequential Linear Programming (FSLP): the AA(d)-FSLP algorithm. FSLP preserves feasibility in all intermediate iterates by means of an iterative update strategy which is based on repeated evaluation of zero-order information. This technique was successfully applied to techniques such as Model Predictive Control and Moving Horizon Estimation, but it can exhibit slow convergence. Moreover, keeping all iterates feasible in FSLP entails a large number of additional constraint evaluations. In this paper, Anderson Acceleration (AA(d)) is applied to the zero-order update strategy improving the convergence rate and therefore decreasing the number of constraint evaluations in the inner iterative procedure of the FSLP algorithm. AA(d) achieves an improved contraction rate in the inner iterations, with proven local linear convergence. In addition, it is observed that due to the improved zero-order update strategy, AA(d)-FSLP takes larger steps to find an optimal solution, yielding faster overall convergence. The performance of AA(d)-FSLP is examined for a time-optimal point-to-point motion problem of a parallel SCARA robot. The reduction of the number of constraint evaluations and overall iterations compared to FSLP is successfully demonstrated.","tags":[],"title":"Anderson Accelerated Feasible Sequential Linear Programming","type":"publication"},{"authors":["Shamil Mamedov","Alejandro Astudillo","Daniele Ronzani","Wilm Decré","Jean-Philippe Noël","Jan Swevers"],"categories":[],"content":"","date":1675333479,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1675333479,"objectID":"620a8bda93cf38e58c6f3816bf8424f4","permalink":"https://alejandroastudillo.github.io/publication/flexible-beam-manipulator/","publishdate":"2022-12-01T11:24:39+01:00","relpermalink":"/publication/flexible-beam-manipulator/","section":"publication","summary":"Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation to measure vibrations. This paper develops a model-based method that overcomes these limitations. It relies on a simple pendulum-like model for modeling the beam, open-loop optimal control for suppressing vibrations, and does not require any exteroceptive sensors. We experimentally show that the proposed method drastically reduces residual vibrations -- at least 90% -- and outperforms the commonly used input shaping (IS) for the same execution time. Besides, our method can also execute the task faster than IS with a minor reduction in vibration suppression performance. The proposed method facilitates the development of new solutions to a wide range of tasks that involve dynamic manipulation of flexible objects.","tags":[],"title":"An Optimal Open-Loop Strategy for Handling a Flexible Beam with a Robot Manipulator","type":"publication"},{"authors":["Ajay Sathya","Alejandro Astudillo","Joris Gillis","Wilm Decré","Goele Pipeleers","Jan Swevers"],"categories":[],"content":"","date":1672075711,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1672075711,"objectID":"5a9c99c67d03a193484286877f9fa4d8","permalink":"https://alejandroastudillo.github.io/publication/tasho/","publishdate":"2022-09-14T19:28:31+02:00","relpermalink":"/publication/tasho/","section":"publication","summary":"We present Tasho (Task specification for receding horizon control), an open-source Python toolbox that facilitates systematic programming of optimal control problem (OCP)-based robot motion skills. Separation-of-concerns is followed while designing the components of a motion skill, which promotes their modularity and reusability. This allows us to program complex motion tasks by configuring and composing simpler tasks. We provide templates for several basic tasks like point-to-point and end-effector path-following tasks to speed up prototyping. Internally, the task’s symbolic expressions are computed using CasADi and the resulting OCP is transcribed using Rockit. A wide and growing range of mature open-source optimization solvers are supported for solving the OCP. Monitor functions can be easily specified and are automatically deployed with the motion skill, so that the generated motion skills can be easily embedded in a larger control architecture involving higher-level discrete controllers. The motion skills thus programmed can be directly deployed on robot platforms using the C-code generation capabilities of CasADi. The toolbox has been validated through several experiments both in simulation and on physical robot systems. The open-source toolbox can be accessed at: https://gitlab.kuleuven.be/meco-software/tasho","tags":[],"title":"Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills ","type":"publication"},{"authors":["Alejandro Astudillo","Ajay Sathya","Dries Dirckx","Wilm Decré","Joris Gillis","Goele Pipeleers","Jan Swevers"],"categories":[],"content":"","date":1668000313,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1668000313,"objectID":"688eb1a4e379531c58ef11914b3cd56b","permalink":"https://alejandroastudillo.github.io/publication/tasho-gui/","publishdate":"2022-09-14T19:25:13+02:00","relpermalink":"/publication/tasho-gui/","section":"publication","summary":"The programming of complex tasks with robot manipulators faces the challenges of complying to constraints and needing to account for several, sometimes conflicting performance objectives. Optimal control problems (OCP) are able to explicitly account for these challenges by solving constrained optimization problems to find optimal trajectories that realize such tasks. The wide adoption of OCPs, however, is restricted by the high engineering cost and the high computational complexity associated to its implementation. To that end, in this paper we present a web application and graphical user interface (GUI) that acts as a front-end of Tasho, a toolbox for constrained-based task specification of robot motion tasks. This web application aims to lower the engineering complexity of setting, simulating and deploying a robot task by realizing a direct workflow from task definition on the GUI to deployment on a real robot using ROS. By interfacing state-of-the-art solvers and libraries through Tasho, the web application delivers computationally efficient solutions to the OCPs associated to the task.","tags":[],"title":"A Web-Based Graphical User Interface for Programming Optimal Control Based Robot Motion Tasks","type":"publication"},{"authors":[],"categories":null,"content":"","date":1664820000,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1664820000,"objectID":"9ff9c1cacd83779f13765e58a14b67bd","permalink":"https://alejandroastudillo.github.io/talk/raising-stars-invited-talk-mecc-2022/","publishdate":"2022-09-12T09:29:12+02:00","relpermalink":"/talk/raising-stars-invited-talk-mecc-2022/","section":"event","summary":"In this talk, I will present efforts made during my doctoral research to reduce the computational complexity of model predictive control (MPC) implementations for robotic applications and reducing the engineering time required for its deployment.","tags":[],"title":"Raising stars invited talk - MECC 2022","type":"event"},{"authors":["Alejandro Astudillo","Goele Pipeleers","Joris Gillis","Wilm Decré","Jan Swevers"],"categories":[],"content":"","date":1664817706,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1664817706,"objectID":"df8e6c05d1290902c31bc8232054334c","permalink":"https://alejandroastudillo.github.io/publication/varying-radius-tunnel/","publishdate":"2022-09-14T19:21:46+02:00","relpermalink":"/publication/varying-radius-tunnel/","section":"publication","summary":"The tunnel-following nonlinear model predictive control (NMPC) scheme for robot manipulators allows the definition of tasks where deviations from a given path reference are allowed but upper-bounded by a user-defined parameter, which for a position tunnel represents the radius of the tunnel. The underlying optimal control problem (OCP) in this scheme can be efficiently solved by using the sequential convex quadratic programming (SCQP) method. Up to now, this scheme has been implemented with constant tunnel radii, although several tasks, such as human-robot collaboration or pick-and-place tasks, would benefit from variable radii throughout task execution. The SCQP method is however not able to exploit the structure of varying-radius tunnel constraints, which can lead to unstable iterations of the SQP method. In this work, we propose a reformulation of the tunnel constraints to overcome this issue, allowing the use of the SCQP method to efficiently solve the underlying OCP. We also provide insight into an efficient implementation of the SCQP method using the lin operator and prove the main theorem underlying such operator. Simulation results of a pick-and-place task involving a varying-radius tunnel are presented to support the applicability of the proposed methods.","tags":[],"title":"Varying-Radius Tunnel-Following NMPC for Robot Manipulators Using Sequential Convex Quadratic Programming","type":"publication"},{"authors":["Alejandro Astudillo","Joris Gillis","Goele Pipeleers","Wilm Decré","Jan Swevers"],"categories":[],"content":"","date":1646987858,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1646987858,"objectID":"60c986326ed56fe9db12bd9b91c88eb8","permalink":"https://alejandroastudillo.github.io/publication/parallelization-ms/","publishdate":"2022-09-15T10:37:38+02:00","relpermalink":"/publication/parallelization-ms/","section":"publication","summary":"The repetitive evaluation of computationally expensive functions in the objective and constraints represents a bottleneck in the solution of the underlying optimal control problem (OCP) of nonlinear model predictive controllers (MPC) for robot manipulators. We address this problem by exploiting the parallel evaluation of such functions within the execution of a first-order and a second-order OCP solution algorithm, such as the proximal averaged Newton-type method for optimal control (PANOC) and the sequential convex quadratic programming (SCQP) method, respectively. The use of task parallelism with multicore executions and data parallelism with single-instruction-multiple-data (SIMD) instructions is shown to effectively reduce the solution time of the underlying OCP so that the satisfaction of real-time constraints in the deployment of MPC for robot manipulators can be achieved.","tags":[],"title":"Speed-Up of Nonlinear Model Predictive Control for Robot Manipulators Using Task and Data Parallelism","type":"publication"},{"authors":["Alejandro Astudillo","Joris Gillis","Moritz Diehl","Wilm Decré","Goele Pipeleers","Jan Swevers"],"categories":[],"content":"","date":1642057877,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1642057877,"objectID":"39f953e80e15692ea92b0d9f7f046192","permalink":"https://alejandroastudillo.github.io/publication/symbolic-linearization-scqp/","publishdate":"2022-09-12T09:11:17+02:00","relpermalink":"/publication/symbolic-linearization-scqp/","section":"publication","summary":"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 structure is exploited by algorithms such as the generalized Gauss-Newton (GGN) method or the sequential convex quadratic programming (SCQP) method to reduce the computational complexity of the OCP solution. However, the modeling effort and engineering time required to implement these methods is high. We address the problem of reducing the modeling effort in the implementation of SCQP, focusing on a standard sequential quadratic programming (SQP) implementation where symbolic linearization is applied to the nonlinear part of the convex-over-nonlinear functions in the objective and constraints. The novelty of this letter is twofold. It introduces a novel operator that applies symbolic linearization in a transparent and easy way to solve nonconvex OCPs with the SCQP method, and introduces a meaningful representation of an orientation-tunnel for robotic applications by means of a convex-over-nonlinear constraint, which preserves the convexity exploitation by the SCQP method. The proposed technique is demonstrated in a tunnel-following task for a 7-degrees-of-freedom manipulator.","tags":[],"title":"Position and Orientation Tunnel-Following NMPC of Robot Manipulators Based on Symbolic Linearization in Sequential Convex Quadratic Programming","type":"publication"},{"authors":["Alejandro Astudillo","Justin Carpentier","Joris Gillis","Goele Pipeleers","Jan Swevers"],"categories":[],"content":"","date":1635033600,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1635033600,"objectID":"be13c141c82a3c75c7a0e845382b058b","permalink":"https://alejandroastudillo.github.io/publication/mixed-use-derivatives/","publishdate":"2022-09-12T08:40:52+02:00","relpermalink":"/publication/mixed-use-derivatives/","section":"publication","summary":"In the context of nonlinear model predictive control (NMPC) for robot manipulators, we address the problem of enabling the mixed and transparent use of algorithmic differentiation (AD) and efficient analytical derivatives of rigid-body dynamics (RBD) to decrease the solution time of the subjacent optimal control problem (OCP). Efficient functions for RBD and their analytical derivatives are made available to the numerical optimization framework CasADi by overloading the operators in the implementations made by the RBD library Pinocchio and adding a derivative-overloading feature to CasADi. A comparison between analytical derivatives and AD is made based on their influence on the solution time of the OCP, showing the benefits of using analytical derivatives for RBD in optimal control of robot manipulators.","tags":[],"title":"Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot Manipulators","type":"publication"},{"authors":["Alejandro Astudillo","吳恩達"],"categories":["Demo","教程"],"content":"Overview The Wowchemy website builder for Hugo, along with its starter templates, is designed for professional creators, educators, and teams/organizations - although it can be used to create any kind of site The template can be modified and customised to suit your needs. It’s a good platform for anyone looking to take control of their data and online identity whilst having the convenience to start off with a no-code solution (write in Markdown and customize with YAML parameters) and having flexibility to later add even deeper personalization with HTML and CSS You can work with all your favourite tools and apps with hundreds of plugins and integrations to speed up your workflows, interact with your readers, and much more \nGet Started 👉 Create a new site 📚 Personalize your site 💬 Chat with the Wowchemy community or Hugo community 🐦 Twitter: @wowchemy @GeorgeCushen #MadeWithWowchemy 💡 Request a feature or report a bug for Wowchemy ⬆️ Updating Wowchemy? View the Update Tutorial and Release Notes Crowd-funded open-source software To help us develop this template and software sustainably under the MIT license, we ask all individuals and businesses that use it to help support its ongoing maintenance and development via sponsorship.\n❤️ Click here to become a sponsor and help support Wowchemy’s future ❤️ As a token of appreciation for sponsoring, you can unlock these awesome rewards and extra features 🦄✨\nEcosystem Hugo Academic CLI: Automatically import publications from BibTeX Inspiration Check out the latest demo of what you’ll get in less than 10 minutes, or view the showcase of personal, project, and business sites.\nFeatures Page builder - Create anything with widgets and elements Edit any type of content - Blog posts, publications, talks, slides, projects, and more! Create content in Markdown, Jupyter, or RStudio Plugin System - Fully customizable color and font themes Display Code and Math - Code highlighting and LaTeX math supported Integrations - Google Analytics, Disqus commenting, Maps, Contact Forms, and more! Beautiful Site - Simple and refreshing one page design Industry-Leading SEO - Help get your website found on search engines and social media Media Galleries - Display your images and videos with captions in a customizable gallery Mobile Friendly - Look amazing on every screen with a mobile friendly version of your site Multi-language - 34+ language packs including English, 中文, and Português Multi-user - Each author gets their own profile page Privacy Pack - Assists with GDPR Stand Out - Bring your site to life with animation, parallax backgrounds, and scroll effects One-Click Deployment - No servers. No databases. Only files. Themes Wowchemy and its templates come with automatic day (light) and night (dark) mode built-in. Alternatively, visitors can choose their preferred mode - click the moon icon in the top right of the Demo to see it in action! Day/night mode can also be disabled by the site admin in params.toml.\nChoose a stunning theme and font for your site. Themes are fully customizable.\nLicense Copyright 2016-present George Cushen.\nReleased under the MIT license.\n","date":1607817600,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1607817600,"objectID":"279b9966ca9cf3121ce924dca452bb1c","permalink":"https://alejandroastudillo.github.io/post/getting-started/","publishdate":"2020-12-13T00:00:00Z","relpermalink":"/post/getting-started/","section":"post","summary":"Welcome 👋 We know that first impressions are important, so we've populated your new site with some initial content to help you get familiar with everything in no time.","tags":["Academic","开源"],"title":"Welcome to Wowchemy, the website builder for Hugo","type":"post"},{"authors":["Alejandro Astudillo","Joris Gillis","Wilm Decré","Goele Pipeleers","Jan Swevers"],"categories":null,"content":" Click the Cite button above to demo the feature to enable visitors to import publication metadata into their reference management software. Create your slides in Markdown - click the Slides button to check out the example. Supplementary notes can be added here, including [code, math, and images](https://wowchemy.com/docs/writing-markdown-latex/). -- ","date":1594512000,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1594512000,"objectID":"3c8a6b62d623c8621236697995e36e18","permalink":"https://alejandroastudillo.github.io/publication/open-toolchain/","publishdate":"2020-07-12T00:00:00Z","relpermalink":"/publication/open-toolchain/","section":"publication","summary":"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.","tags":[],"title":"Towards an open toolchain for fast nonlinear MPC for serial robots","type":"publication"},{"authors":["Luis Garcia","Alejandro Astudillo","Esteban Rosero"],"categories":[],"content":"","date":1571254433,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1571254433,"objectID":"a140664819f5ab334e5444c1825dc8b6","permalink":"https://alejandroastudillo.github.io/publication/smartphone-mpc/","publishdate":"2019-12-05T20:33:53+01:00","relpermalink":"/publication/smartphone-mpc/","section":"publication","summary":"Several attempts have been made to execute control of a system using only a smartphone's processor running computationally inexpensive algorithms such as PID, LQR or H-inf controllers. This paper presents design and implementation of model predictive controllers on a smartphone using the numerical optimization framework CasADi. To evaluate this framework's performance (and compare its results with those from a Java library JOptimizer's deployment) the implemented model predictive control algorithm was subjected to simulations of running a quadrotor control system on a smartphone. It attained a tracking error of 0.0693 m. These evaluation results open the possibility of implementing more computationally expensive algorithms on a smartphone's processor including online or real-time usage.","tags":[],"title":"Fast model predictive control on a smartphone-based flight controller","type":"publication"},{"authors":[],"categories":[],"content":"Create slides in Markdown with Wowchemy Wowchemy | Documentation\n Features Efficiently write slides in Markdown 3-in-1: Create, Present, and Publish your slides Supports speaker notes Mobile friendly slides Controls Next: Right Arrow or Space Previous: Left Arrow Start: Home Finish: End Overview: Esc Speaker notes: S Fullscreen: F Zoom: Alt + Click PDF Export Code Highlighting Inline code: variable\nCode block:\nporridge = \u0026#34;blueberry\u0026#34; if porridge == \u0026#34;blueberry\u0026#34;: print(\u0026#34;Eating...\u0026#34;) Math In-line math: $x + y = z$\nBlock math:\n$$ f\\left( x \\right) = ;\\frac{{2\\left( {x + 4} \\right)\\left( {x - 4} \\right)}}{{\\left( {x + 4} \\right)\\left( {x + 1} \\right)}} $$\n Fragments Make content appear incrementally\n{{% fragment %}} One {{% /fragment %}} {{% fragment %}} **Two** {{% /fragment %}} {{% fragment %}} Three {{% /fragment %}} Press Space to play!\nOne Two Three A fragment can accept two optional parameters:\n class: use a custom style (requires definition in custom CSS) weight: sets the order in which a fragment appears Speaker Notes Add speaker notes to your presentation\n{{% speaker_note %}} - Only the speaker can read these notes - Press `S` key to view {{% /speaker_note %}} Press the S key to view the speaker notes!\n Only the speaker can read these notes Press S key to view Themes black: Black background, white text, blue links (default) white: White background, black text, blue links league: Gray background, white text, blue links beige: Beige background, dark text, brown links sky: Blue background, thin dark text, blue links night: Black background, thick white text, orange links serif: Cappuccino background, gray text, brown links simple: White background, black text, blue links solarized: Cream-colored background, dark green text, blue links Custom Slide Customize the slide style and background\n{{\u0026lt; slide background-image=\u0026#34;/media/boards.jpg\u0026#34; \u0026gt;}} {{\u0026lt; slide background-color=\u0026#34;#0000FF\u0026#34; \u0026gt;}} {{\u0026lt; slide class=\u0026#34;my-style\u0026#34; \u0026gt;}} Custom CSS Example Let’s make headers navy colored.\nCreate assets/css/reveal_custom.css with:\n.reveal section h1, .reveal section h2, .reveal section h3 { color: navy; } Questions? Ask\nDocumentation\n","date":1549324800,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1549324800,"objectID":"0e6de1a61aa83269ff13324f3167c1a9","permalink":"https://alejandroastudillo.github.io/slides/example/","publishdate":"2019-02-05T00:00:00Z","relpermalink":"/slides/example/","section":"slides","summary":"An introduction to using Wowchemy's Slides feature.","tags":[],"title":"Slides","type":"slides"},{"authors":null,"categories":null,"content":"","date":1546300800,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1546300800,"objectID":"e7c9e19a0e0ad788b8d9ef5563c6073a","permalink":"https://alejandroastudillo.github.io/curriculum/","publishdate":"2019-01-01T00:00:00Z","relpermalink":"/curriculum/","section":"","summary":"","tags":null,"title":"CV","type":"widget_page"},{"authors":["Juan Luna","Alejandro Astudillo","Esteban Rosero","Fabio Guerrero"],"categories":[],"content":"","date":1511469231,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1511469231,"objectID":"962184971b50b6a8d7ff7f8d758778dd","permalink":"https://alejandroastudillo.github.io/publication/silvereye/","publishdate":"2017-11-23T21:33:51+01:00","relpermalink":"/publication/silvereye/","section":"publication","summary":"This work proposes an electronic system, Silvereye, focused on the analysis of human gait kinematics based on inertial sensors. This system is a tool to perform clinical diagnoses and monitor rehabilitation processes, since it is compact, portable and wireless, allowing gait processes to be measured non-invasively and without altering them. In addition to exposing the physical and logical topologies of the system, this work proposes an algorithmic procedure to align the axes of an inertial sensor with those of a corresponding lower segment, so that the sensor can be arbitrarily located in the segment. Additionally, the system implements a method to calculate the joint angles of flexion / extension (equivalent to the movements of the lower segments in the sagittal plane) and provides an interface that allows the movements of the user to be represented online using a three-dimensional avatar. The system was tested on an ideal joint and on a human knee using a two-dimensional vision system as a means of comparison. When comparing the calculated sagittal angles and the references obtained from the vision system, a mean square error (standard deviation) of 1.65 ° (0.55 °) is obtained for tests on an ideal joint and 1.84 ° (0.48 °) for tests on a human knee, with a correlation of r = 0.99 in both cases.","tags":[],"title":"Silvereye, sistema electrónico para el análisis de la marcha humana en el plano sagital a partir de sensores inerciales","type":"publication"},{"authors":["Alejandro Astudillo","Bladimir Bacca","Esteban Rosero"],"categories":[],"content":"","date":1508358409,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1508358409,"objectID":"22121d15b91a7cf91f0d87f6e1d272b5","permalink":"https://alejandroastudillo.github.io/publication/smartphone-quadrotor-optimal/","publishdate":"2018-02-01T21:26:49+01:00","relpermalink":"/publication/smartphone-quadrotor-optimal/","section":"publication","summary":"In this paper, a flight control system for a smartphone-based quadrotor is proposed. The sensing, the state estimation and control algorithms in this quadrotor are exclusively executed by the smartphone on-board. Two control architectures for this quadrotor are here presented: a LQG controller with gain compensation for reference tracking and a controller. Due to the shortcomings of smartphones' sensors, a Kalman filter for state estimation is proposed. We also present simulation results of the proposed system using dynamic models and real quadrotor parameters. These results demonstrate the performance advantages of the LQG and controllers. An absolute error of less than 2.4 ± 0.001 m while take-off and landing, and 1.1 ± 0.001 m while following a mission path is achieved.","tags":[],"title":"Optimal and robust controllers design for a smartphone-based quadrotor","type":"publication"},{"authors":["Alejandro Astudillo","Pedro Muñoz","Fredy Álvarez","Esteban Rosero"],"categories":[],"content":"","date":1497557359,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1497557359,"objectID":"4b7e2dff647c5b3d73b5d93bac625e13","permalink":"https://alejandroastudillo.github.io/publication/smartphone-quadrotor-pid/","publishdate":"2017-07-27T21:09:19+01:00","relpermalink":"/publication/smartphone-quadrotor-pid/","section":"publication","summary":"This paper presents the design and implementation of Android-based cascade PID controller structures to control the altitude and attitude of a quadcopter, and the sensor fusion algorithms implemented to estimate its flight dynamics. The main goal of this research is to stabilize the attitude of an unmanned aerial vehicle (UAV), such as a quadcopter, and control its altitude using exclusively the sensors and processor of a smartphone on-board. As the sensors embedded in the smartphones are not accurate enough to measure the altitude of the quadcopter, a linear Kalman filter for relative altitude estimation was designed and implemented. Here, it is described precisely the hardware that was used to build the test platform, the non-linear an linearized quadcopter model, the software structure to execute the controllers in the smartphone, the sensor fusion algorithms implemented to obtain reliable data from the smartphone sensors, and the cascade PID controllers design. Finally, the success of the proposed system is evidenced in the results of a set of experimental tests. In these tests, the quadcopter attitude was regulated after some disturbances were applied to the system and its altitude was controlled after the reference was changed.","tags":[],"title":"Altitude and attitude cascade controller for a smartphone-based quadcopter","type":"publication"},{"authors":null,"categories":null,"content":"Lorem ipsum dolor sit amet, consectetur adipiscing elit. Duis posuere tellus ac convallis placerat. Proin tincidunt magna sed ex sollicitudin condimentum. Sed ac faucibus dolor, scelerisque sollicitudin nisi. Cras purus urna, suscipit quis sapien eu, pulvinar tempor diam. Quisque risus orci, mollis id ante sit amet, gravida egestas nisl. Sed ac tempus magna. Proin in dui enim. Donec condimentum, sem id dapibus fringilla, tellus enim condimentum arcu, nec volutpat est felis vel metus. Vestibulum sit amet erat at nulla eleifend gravida.\nNullam vel molestie justo. Curabitur vitae efficitur leo. In hac habitasse platea dictumst. Sed pulvinar mauris dui, eget varius purus congue ac. Nulla euismod, lorem vel elementum dapibus, nunc justo porta mi, sed tempus est est vel tellus. Nam et enim eleifend, laoreet sem sit amet, elementum sem. Morbi ut leo congue, maximus velit ut, finibus arcu. In et libero cursus, rutrum risus non, molestie leo. Nullam congue quam et volutpat malesuada. Sed risus tortor, pulvinar et dictum nec, sodales non mi. Phasellus lacinia commodo laoreet. Nam mollis, erat in feugiat consectetur, purus eros egestas tellus, in auctor urna odio at nibh. Mauris imperdiet nisi ac magna convallis, at rhoncus ligula cursus.\nCras aliquam rhoncus ipsum, in hendrerit nunc mattis vitae. Duis vitae efficitur metus, ac tempus leo. Cras nec fringilla lacus. Quisque sit amet risus at ipsum pharetra commodo. Sed aliquam mauris at consequat eleifend. Praesent porta, augue sed viverra bibendum, neque ante euismod ante, in vehicula justo lorem ac eros. Suspendisse augue libero, venenatis eget tincidunt ut, malesuada at lorem. Donec vitae bibendum arcu. Aenean maximus nulla non pretium iaculis. Quisque imperdiet, nulla in pulvinar aliquet, velit quam ultrices quam, sit amet fringilla leo sem vel nunc. Mauris in lacinia lacus.\nSuspendisse a tincidunt lacus. Curabitur at urna sagittis, dictum ante sit amet, euismod magna. Sed rutrum massa id tortor commodo, vitae elementum turpis tempus. Lorem ipsum dolor sit amet, consectetur adipiscing elit. Aenean purus turpis, venenatis a ullamcorper nec, tincidunt et massa. Integer posuere quam rutrum arcu vehicula imperdiet. Mauris ullamcorper quam vitae purus congue, quis euismod magna eleifend. Vestibulum semper vel augue eget tincidunt. Fusce eget justo sodales, dapibus odio eu, ultrices lorem. Duis condimentum lorem id eros commodo, in facilisis mauris scelerisque. Morbi sed auctor leo. Nullam volutpat a lacus quis pharetra. Nulla congue rutrum magna a ornare.\nAliquam in turpis accumsan, malesuada nibh ut, hendrerit justo. Cum sociis natoque penatibus et magnis dis parturient montes, nascetur ridiculus mus. Quisque sed erat nec justo posuere suscipit. Donec ut efficitur arcu, in malesuada neque. Nunc dignissim nisl massa, id vulputate nunc pretium nec. Quisque eget urna in risus suscipit ultricies. Pellentesque odio odio, tincidunt in eleifend sed, posuere a diam. Nam gravida nisl convallis semper elementum. Morbi vitae felis faucibus, vulputate orci placerat, aliquet nisi. Aliquam erat volutpat. Maecenas sagittis pulvinar purus, sed porta quam laoreet at.\n","date":1461715200,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1461715200,"objectID":"e8f8d235e8e7f2efd912bfe865363fc3","permalink":"https://alejandroastudillo.github.io/project/example/","publishdate":"2016-04-27T00:00:00Z","relpermalink":"/project/example/","section":"project","summary":"An example of using the in-built project page.","tags":["Deep Learning"],"title":"Example Project","type":"project"}] \ No newline at end of file + + [{"authors":null,"categories":null,"content":"Alejandro Astudillo received his B.Sc. degree in Electronics Engineering and his M.Sc. degree in Automation Engineering from Universidad del Valle, Colombia, in 2015 and 2017, respectively. He joined the MECO Research Team at KU Leuven as a PhD researcher in 2018. His research interests focus on strategies for reducing the engineering effort and the computational burden of real time motion planning and model predictive control of robotic and complex mechatronic systems.\n Download my resumé. -- ","date":1687866774,"expirydate":-62135596800,"kind":"term","lang":"en","lastmod":1687866774,"objectID":"2525497d367e79493fd32b198b28f040","permalink":"","publishdate":"0001-01-01T00:00:00Z","relpermalink":"","section":"authors","summary":"Alejandro Astudillo received his B.Sc. degree in Electronics Engineering and his M.Sc. degree in Automation Engineering from Universidad del Valle, Colombia, in 2015 and 2017, respectively. He joined the MECO Research Team at KU Leuven as a PhD researcher in 2018.","tags":null,"title":"Alejandro Astudillo","type":"authors"},{"authors":[],"categories":null,"content":"","date":1721138400,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1721138400,"objectID":"f24a3b4af51cd27220ff548324ce29a8","permalink":"https://alejandroastudillo.github.io/talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/","publishdate":"2024-07-26T21:11:37+02:00","relpermalink":"/talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/","section":"event","summary":"In this workshop, participants will engage in hands-on exploration of optimal control problems (OCPs) applied to motion planning and model predictive control (MPC) in autonomous robotic systems. By engaging with cutting-edge tools and techniques, participants will develop the skills necessary to navigate complex environments, optimize trajectory paths, and execute tasks with precision and efficiency in robotic systems.\nTo streamline the guided exercises, the workshop makes use of the free and open-source Rockit [1] and Impact [2][3] software frameworks developed by the MECO Research Team at KU Leuven and built on top of the numerical optimization framework CasADi [4], designed for efficient nonlinear programming.\nExercises will be mainly in Python, and Docker images containing a development and simulation environment will be provided. Attendees can later adopt the presented open-source software frameworks in their research.\nWhile foundational concepts of OCPs will be introduced, the course focuses on learning-by-doing. The course prioritizes practical know-how, enabling participants to directly apply Rockit and Impact to tackle real-world robotic challenges. The attendees will learn to formulate and solve OCPs, gaining valuable experience in implementing trajectory optimization algorithms and MPC strategies. Moreover, participants will learn how to swiftly deploy OCPs and MPCs in C, Python and ROS 2.\nThis workshop is organized by members of the MECO Research Team of KU Leuven, Belgium. The MECO Research Team focusses on modeling, estimation, identification, analysis and optimal control of motion and motion systems such as mechatronic systems or machine tools. It combines theoretical contributions (development of design methodologies) with experimental knowhow (implementation and experimental validation on lab-scale as well as industrial setups). The theoretical research benefits from the group’s expertise on numerical optimization, especially convex optimization.","tags":[],"title":"Workshop on optimal control problems and model predictive control for autonomous systems","type":"event"},{"authors":["Alejandro Astudillo","Edna Avella-Rodríguez","Gloria Arango-Hoyos","Jose Ramirez-Scarpetta","Esteban Rosero"],"categories":[],"content":"","date":1687866774,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1687866774,"objectID":"81f14a0c703fd0006436a12b7742a929","permalink":"https://alejandroastudillo.github.io/publication/gait-monitoring/","publishdate":"2023-06-28T13:52:54+02:00","relpermalink":"/publication/gait-monitoring/","section":"publication","summary":"","tags":[],"title":"Smartphone-Based Wearable Gait Monitoring System Using Wireless Inertial Sensors","type":"publication"},{"authors":[],"categories":null,"content":"","date":1686237300,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1686237300,"objectID":"7defcf4ce64563dc83c3bb5a2bb3e385","permalink":"https://alejandroastudillo.github.io/talk/avances-en-la-aplicacion-industrial-del-control-predictivo-basado-en-modelos-para-sistemas-roboticos-mejora-de-la-eficiencia-computacional-y-facilitacion-de-la-implementacion/","publishdate":"2023-05-31T15:54:22+02:00","relpermalink":"/talk/avances-en-la-aplicacion-industrial-del-control-predictivo-basado-en-modelos-para-sistemas-roboticos-mejora-de-la-eficiencia-computacional-y-facilitacion-de-la-implementacion/","section":"event","summary":"","tags":[],"title":"Avances en la aplicación industrial del control predictivo basado en modelos para sistemas robóticos: Mejora de la eficiencia computacional y facilitación de la implementación","type":"event"},{"authors":[],"categories":null,"content":"","date":1684162800,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1684162800,"objectID":"ad74e1284c79d600c3b3150f521eaa4e","permalink":"https://alejandroastudillo.github.io/talk/advancing-the-industrial-application-of-model-predictive-control-for-robot-manipulators-improving-computational-efficiency-and-facilitating-implementation/","publishdate":"2023-04-17T09:05:46+02:00","relpermalink":"/talk/advancing-the-industrial-application-of-model-predictive-control-for-robot-manipulators-improving-computational-efficiency-and-facilitating-implementation/","section":"event","summary":"The implementation of robotic applications is currently facing various control challenges that simple controllers fail to address, e.g., systems are increasingly complex, need to comply with constraints and need to account for several, sometimes conflicting performance objectives. Model predictive control (MPC) is an advanced control technique that explicitly accounts for all these challenges by considering system models and solving constrained optimization problems in real-time at every control step. However, wide adoption of MPC in complex robotic applications is impeded by two issues. First, low-level drivers in robotic systems require input updates at high frequency, typically in the order of 1 kHz, which is a control frequency that is difficult to meet for MPC due to its inherent computational complexity. Second, MPC development and deployment is not straightforward and comes with a high engineering cost because proper tools are missing. This work addresses both issues, reducing the computational complexity of MPC implementations for robotic applications and reducing the engineering time required for its deployment. It covers (i) the use of efficient formulations of robot dynamics and their analytical derivatives, (ii) the mixed and transparent use of such analytical derivatives and algorithmic differentiation within an optimization framework, (iii) the efficient evaluation of computationally expensive functions in nonlinear programs by means of task- and data-level parallelization, and (iv) the efficient implementation of numerical optimization algorithms that accelerate the solution of the underlying optimal control problem. Moreover, it consolidates these advances within an easy-to-use, open-source framework that defines a direct workflow from problem definition to robot-based solution deployment. These developments help bridge the gap between advanced optimization-based controllers, like MPC, and complex robotic applications.","tags":[],"title":"Advancing the industrial application of model predictive control for robot manipulators: Improving computational efficiency and facilitating implementation","type":"event"},{"authors":["Alejandro Astudillo"],"categories":[],"content":"","date":1684162800,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1684162800,"objectID":"3bbaff791be1d67f99d1269bde41adc9","permalink":"https://alejandroastudillo.github.io/publication/phd-thesis/","publishdate":"2023-05-25T14:40:14+02:00","relpermalink":"/publication/phd-thesis/","section":"publication","summary":"The implementation of robotic applications is currently facing various control challenges that simple controllers fail to address, e.g., systems are increasingly complex, need to comply with constraints and need to account for several, sometimes conflicting performance objectives. Model predictive control (MPC) is an advanced control technique that explicitly accounts for all these challenges by considering system models and solving constrained optimization problems in real-time at every control step. However, wide adoption of MPC in complex robotic applications is impeded by its high computational and engineering complexity. This work addresses both issues, reducing the computational complexity of MPC implementations for robotic applications and reducing the engineering time required for its deployment. This research is supported by an MPC toolchain development in order to integrate all software in an open and modular fashion as to create a workflow from problem specification to deployment. The developments are validated computationally and experimentally on industrial robotic set-ups in the lab.","tags":[],"title":"Advancing the Industrial Application of Model Predictive Control for Robot Manipulators: Improving Computational Efficiency and Facilitating Implementation","type":"publication"},{"authors":[],"categories":null,"content":"","date":1683880200,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1683880200,"objectID":"6db4c8e574582a0a0d3ee97a62e43a3a","permalink":"https://alejandroastudillo.github.io/talk/towards-real-time-mpc-of-robotic-systems-with-full-dynamic-models-results-challenges-and-opportunities/","publishdate":"2023-03-13T10:17:48+01:00","relpermalink":"/talk/towards-real-time-mpc-of-robotic-systems-with-full-dynamic-models-results-challenges-and-opportunities/","section":"event","summary":"","tags":[],"title":"Towards real-time MPC of robotic systems with full dynamic models: results, challenges, and opportunities","type":"event"},{"authors":["Alvaro Florez","Alejandro Astudillo","Wilm Decré","Jan Swevers","Joris Gillis"],"categories":[],"content":"","date":1677866643,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1677866643,"objectID":"d48605d209f0bd43ec128ef7e0a719f0","permalink":"https://alejandroastudillo.github.io/publication/impact/","publishdate":"2023-03-03T19:04:03+01:00","relpermalink":"/publication/impact/","section":"publication","summary":"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.","tags":[],"title":"IMPACT: A Toolchain for Nonlinear Model Predictive Control Specification, Prototyping, and Deployment","type":"publication"},{"authors":["David Kiessling","Pieter Pas","Alejandro Astudillo","Panagiotis Patrinos","Jan Swevers"],"categories":[],"content":"","date":1677865302,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1677865302,"objectID":"9d6bf9d9795819822fcb394a4a20d538","permalink":"https://alejandroastudillo.github.io/publication/anderson-accelerated-fslp/","publishdate":"2023-03-03T18:04:03+01:00","relpermalink":"/publication/anderson-accelerated-fslp/","section":"publication","summary":"This paper proposes an accelerated version of Feasible Sequential Linear Programming (FSLP): the AA(d)-FSLP algorithm. FSLP preserves feasibility in all intermediate iterates by means of an iterative update strategy which is based on repeated evaluation of zero-order information. This technique was successfully applied to techniques such as Model Predictive Control and Moving Horizon Estimation, but it can exhibit slow convergence. Moreover, keeping all iterates feasible in FSLP entails a large number of additional constraint evaluations. In this paper, Anderson Acceleration (AA(d)) is applied to the zero-order update strategy improving the convergence rate and therefore decreasing the number of constraint evaluations in the inner iterative procedure of the FSLP algorithm. AA(d) achieves an improved contraction rate in the inner iterations, with proven local linear convergence. In addition, it is observed that due to the improved zero-order update strategy, AA(d)-FSLP takes larger steps to find an optimal solution, yielding faster overall convergence. The performance of AA(d)-FSLP is examined for a time-optimal point-to-point motion problem of a parallel SCARA robot. The reduction of the number of constraint evaluations and overall iterations compared to FSLP is successfully demonstrated.","tags":[],"title":"Anderson Accelerated Feasible Sequential Linear Programming","type":"publication"},{"authors":["Shamil Mamedov","Alejandro Astudillo","Daniele Ronzani","Wilm Decré","Jean-Philippe Noël","Jan Swevers"],"categories":[],"content":"","date":1675333479,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1675333479,"objectID":"620a8bda93cf38e58c6f3816bf8424f4","permalink":"https://alejandroastudillo.github.io/publication/flexible-beam-manipulator/","publishdate":"2022-12-01T11:24:39+01:00","relpermalink":"/publication/flexible-beam-manipulator/","section":"publication","summary":"Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation to measure vibrations. This paper develops a model-based method that overcomes these limitations. It relies on a simple pendulum-like model for modeling the beam, open-loop optimal control for suppressing vibrations, and does not require any exteroceptive sensors. We experimentally show that the proposed method drastically reduces residual vibrations -- at least 90% -- and outperforms the commonly used input shaping (IS) for the same execution time. Besides, our method can also execute the task faster than IS with a minor reduction in vibration suppression performance. The proposed method facilitates the development of new solutions to a wide range of tasks that involve dynamic manipulation of flexible objects.","tags":[],"title":"An Optimal Open-Loop Strategy for Handling a Flexible Beam with a Robot Manipulator","type":"publication"},{"authors":["Ajay Sathya","Alejandro Astudillo","Joris Gillis","Wilm Decré","Goele Pipeleers","Jan Swevers"],"categories":[],"content":"","date":1672075711,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1672075711,"objectID":"5a9c99c67d03a193484286877f9fa4d8","permalink":"https://alejandroastudillo.github.io/publication/tasho/","publishdate":"2022-09-14T19:28:31+02:00","relpermalink":"/publication/tasho/","section":"publication","summary":"We present Tasho (Task specification for receding horizon control), an open-source Python toolbox that facilitates systematic programming of optimal control problem (OCP)-based robot motion skills. Separation-of-concerns is followed while designing the components of a motion skill, which promotes their modularity and reusability. This allows us to program complex motion tasks by configuring and composing simpler tasks. We provide templates for several basic tasks like point-to-point and end-effector path-following tasks to speed up prototyping. Internally, the task’s symbolic expressions are computed using CasADi and the resulting OCP is transcribed using Rockit. A wide and growing range of mature open-source optimization solvers are supported for solving the OCP. Monitor functions can be easily specified and are automatically deployed with the motion skill, so that the generated motion skills can be easily embedded in a larger control architecture involving higher-level discrete controllers. The motion skills thus programmed can be directly deployed on robot platforms using the C-code generation capabilities of CasADi. The toolbox has been validated through several experiments both in simulation and on physical robot systems. The open-source toolbox can be accessed at: https://gitlab.kuleuven.be/meco-software/tasho","tags":[],"title":"Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills ","type":"publication"},{"authors":["Alejandro Astudillo","Ajay Sathya","Dries Dirckx","Wilm Decré","Joris Gillis","Goele Pipeleers","Jan Swevers"],"categories":[],"content":"","date":1668000313,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1668000313,"objectID":"688eb1a4e379531c58ef11914b3cd56b","permalink":"https://alejandroastudillo.github.io/publication/tasho-gui/","publishdate":"2022-09-14T19:25:13+02:00","relpermalink":"/publication/tasho-gui/","section":"publication","summary":"The programming of complex tasks with robot manipulators faces the challenges of complying to constraints and needing to account for several, sometimes conflicting performance objectives. Optimal control problems (OCP) are able to explicitly account for these challenges by solving constrained optimization problems to find optimal trajectories that realize such tasks. The wide adoption of OCPs, however, is restricted by the high engineering cost and the high computational complexity associated to its implementation. To that end, in this paper we present a web application and graphical user interface (GUI) that acts as a front-end of Tasho, a toolbox for constrained-based task specification of robot motion tasks. This web application aims to lower the engineering complexity of setting, simulating and deploying a robot task by realizing a direct workflow from task definition on the GUI to deployment on a real robot using ROS. By interfacing state-of-the-art solvers and libraries through Tasho, the web application delivers computationally efficient solutions to the OCPs associated to the task.","tags":[],"title":"A Web-Based Graphical User Interface for Programming Optimal Control Based Robot Motion Tasks","type":"publication"},{"authors":[],"categories":null,"content":"","date":1664820000,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1664820000,"objectID":"9ff9c1cacd83779f13765e58a14b67bd","permalink":"https://alejandroastudillo.github.io/talk/raising-stars-invited-talk-mecc-2022/","publishdate":"2022-09-12T09:29:12+02:00","relpermalink":"/talk/raising-stars-invited-talk-mecc-2022/","section":"event","summary":"In this talk, I will present efforts made during my doctoral research to reduce the computational complexity of model predictive control (MPC) implementations for robotic applications and reducing the engineering time required for its deployment.","tags":[],"title":"Raising stars invited talk - MECC 2022","type":"event"},{"authors":["Alejandro Astudillo","Goele Pipeleers","Joris Gillis","Wilm Decré","Jan Swevers"],"categories":[],"content":"","date":1664817706,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1664817706,"objectID":"df8e6c05d1290902c31bc8232054334c","permalink":"https://alejandroastudillo.github.io/publication/varying-radius-tunnel/","publishdate":"2022-09-14T19:21:46+02:00","relpermalink":"/publication/varying-radius-tunnel/","section":"publication","summary":"The tunnel-following nonlinear model predictive control (NMPC) scheme for robot manipulators allows the definition of tasks where deviations from a given path reference are allowed but upper-bounded by a user-defined parameter, which for a position tunnel represents the radius of the tunnel. The underlying optimal control problem (OCP) in this scheme can be efficiently solved by using the sequential convex quadratic programming (SCQP) method. Up to now, this scheme has been implemented with constant tunnel radii, although several tasks, such as human-robot collaboration or pick-and-place tasks, would benefit from variable radii throughout task execution. The SCQP method is however not able to exploit the structure of varying-radius tunnel constraints, which can lead to unstable iterations of the SQP method. In this work, we propose a reformulation of the tunnel constraints to overcome this issue, allowing the use of the SCQP method to efficiently solve the underlying OCP. We also provide insight into an efficient implementation of the SCQP method using the lin operator and prove the main theorem underlying such operator. Simulation results of a pick-and-place task involving a varying-radius tunnel are presented to support the applicability of the proposed methods.","tags":[],"title":"Varying-Radius Tunnel-Following NMPC for Robot Manipulators Using Sequential Convex Quadratic Programming","type":"publication"},{"authors":["Alejandro Astudillo","Joris Gillis","Goele Pipeleers","Wilm Decré","Jan Swevers"],"categories":[],"content":"","date":1646987858,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1646987858,"objectID":"60c986326ed56fe9db12bd9b91c88eb8","permalink":"https://alejandroastudillo.github.io/publication/parallelization-ms/","publishdate":"2022-09-15T10:37:38+02:00","relpermalink":"/publication/parallelization-ms/","section":"publication","summary":"The repetitive evaluation of computationally expensive functions in the objective and constraints represents a bottleneck in the solution of the underlying optimal control problem (OCP) of nonlinear model predictive controllers (MPC) for robot manipulators. We address this problem by exploiting the parallel evaluation of such functions within the execution of a first-order and a second-order OCP solution algorithm, such as the proximal averaged Newton-type method for optimal control (PANOC) and the sequential convex quadratic programming (SCQP) method, respectively. The use of task parallelism with multicore executions and data parallelism with single-instruction-multiple-data (SIMD) instructions is shown to effectively reduce the solution time of the underlying OCP so that the satisfaction of real-time constraints in the deployment of MPC for robot manipulators can be achieved.","tags":[],"title":"Speed-Up of Nonlinear Model Predictive Control for Robot Manipulators Using Task and Data Parallelism","type":"publication"},{"authors":["Alejandro Astudillo","Joris Gillis","Moritz Diehl","Wilm Decré","Goele Pipeleers","Jan Swevers"],"categories":[],"content":"","date":1642057877,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1642057877,"objectID":"39f953e80e15692ea92b0d9f7f046192","permalink":"https://alejandroastudillo.github.io/publication/symbolic-linearization-scqp/","publishdate":"2022-09-12T09:11:17+02:00","relpermalink":"/publication/symbolic-linearization-scqp/","section":"publication","summary":"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 structure is exploited by algorithms such as the generalized Gauss-Newton (GGN) method or the sequential convex quadratic programming (SCQP) method to reduce the computational complexity of the OCP solution. However, the modeling effort and engineering time required to implement these methods is high. We address the problem of reducing the modeling effort in the implementation of SCQP, focusing on a standard sequential quadratic programming (SQP) implementation where symbolic linearization is applied to the nonlinear part of the convex-over-nonlinear functions in the objective and constraints. The novelty of this letter is twofold. It introduces a novel operator that applies symbolic linearization in a transparent and easy way to solve nonconvex OCPs with the SCQP method, and introduces a meaningful representation of an orientation-tunnel for robotic applications by means of a convex-over-nonlinear constraint, which preserves the convexity exploitation by the SCQP method. The proposed technique is demonstrated in a tunnel-following task for a 7-degrees-of-freedom manipulator.","tags":[],"title":"Position and Orientation Tunnel-Following NMPC of Robot Manipulators Based on Symbolic Linearization in Sequential Convex Quadratic Programming","type":"publication"},{"authors":["Alejandro Astudillo","Justin Carpentier","Joris Gillis","Goele Pipeleers","Jan Swevers"],"categories":[],"content":"","date":1635033600,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1635033600,"objectID":"be13c141c82a3c75c7a0e845382b058b","permalink":"https://alejandroastudillo.github.io/publication/mixed-use-derivatives/","publishdate":"2022-09-12T08:40:52+02:00","relpermalink":"/publication/mixed-use-derivatives/","section":"publication","summary":"In the context of nonlinear model predictive control (NMPC) for robot manipulators, we address the problem of enabling the mixed and transparent use of algorithmic differentiation (AD) and efficient analytical derivatives of rigid-body dynamics (RBD) to decrease the solution time of the subjacent optimal control problem (OCP). Efficient functions for RBD and their analytical derivatives are made available to the numerical optimization framework CasADi by overloading the operators in the implementations made by the RBD library Pinocchio and adding a derivative-overloading feature to CasADi. A comparison between analytical derivatives and AD is made based on their influence on the solution time of the OCP, showing the benefits of using analytical derivatives for RBD in optimal control of robot manipulators.","tags":[],"title":"Mixed Use of Analytical Derivatives and Algorithmic Differentiation for NMPC of Robot Manipulators","type":"publication"},{"authors":["Alejandro Astudillo","吳恩達"],"categories":["Demo","教程"],"content":"Overview The Wowchemy website builder for Hugo, along with its starter templates, is designed for professional creators, educators, and teams/organizations - although it can be used to create any kind of site The template can be modified and customised to suit your needs. It’s a good platform for anyone looking to take control of their data and online identity whilst having the convenience to start off with a no-code solution (write in Markdown and customize with YAML parameters) and having flexibility to later add even deeper personalization with HTML and CSS You can work with all your favourite tools and apps with hundreds of plugins and integrations to speed up your workflows, interact with your readers, and much more \nGet Started 👉 Create a new site 📚 Personalize your site 💬 Chat with the Wowchemy community or Hugo community 🐦 Twitter: @wowchemy @GeorgeCushen #MadeWithWowchemy 💡 Request a feature or report a bug for Wowchemy ⬆️ Updating Wowchemy? View the Update Tutorial and Release Notes Crowd-funded open-source software To help us develop this template and software sustainably under the MIT license, we ask all individuals and businesses that use it to help support its ongoing maintenance and development via sponsorship.\n❤️ Click here to become a sponsor and help support Wowchemy’s future ❤️ As a token of appreciation for sponsoring, you can unlock these awesome rewards and extra features 🦄✨\nEcosystem Hugo Academic CLI: Automatically import publications from BibTeX Inspiration Check out the latest demo of what you’ll get in less than 10 minutes, or view the showcase of personal, project, and business sites.\nFeatures Page builder - Create anything with widgets and elements Edit any type of content - Blog posts, publications, talks, slides, projects, and more! Create content in Markdown, Jupyter, or RStudio Plugin System - Fully customizable color and font themes Display Code and Math - Code highlighting and LaTeX math supported Integrations - Google Analytics, Disqus commenting, Maps, Contact Forms, and more! Beautiful Site - Simple and refreshing one page design Industry-Leading SEO - Help get your website found on search engines and social media Media Galleries - Display your images and videos with captions in a customizable gallery Mobile Friendly - Look amazing on every screen with a mobile friendly version of your site Multi-language - 34+ language packs including English, 中文, and Português Multi-user - Each author gets their own profile page Privacy Pack - Assists with GDPR Stand Out - Bring your site to life with animation, parallax backgrounds, and scroll effects One-Click Deployment - No servers. No databases. Only files. Themes Wowchemy and its templates come with automatic day (light) and night (dark) mode built-in. Alternatively, visitors can choose their preferred mode - click the moon icon in the top right of the Demo to see it in action! Day/night mode can also be disabled by the site admin in params.toml.\nChoose a stunning theme and font for your site. Themes are fully customizable.\nLicense Copyright 2016-present George Cushen.\nReleased under the MIT license.\n","date":1607817600,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1607817600,"objectID":"279b9966ca9cf3121ce924dca452bb1c","permalink":"https://alejandroastudillo.github.io/post/getting-started/","publishdate":"2020-12-13T00:00:00Z","relpermalink":"/post/getting-started/","section":"post","summary":"Welcome 👋 We know that first impressions are important, so we've populated your new site with some initial content to help you get familiar with everything in no time.","tags":["Academic","开源"],"title":"Welcome to Wowchemy, the website builder for Hugo","type":"post"},{"authors":["Alejandro Astudillo","Joris Gillis","Wilm Decré","Goele Pipeleers","Jan Swevers"],"categories":null,"content":" Click the Cite button above to demo the feature to enable visitors to import publication metadata into their reference management software. Create your slides in Markdown - click the Slides button to check out the example. Supplementary notes can be added here, including [code, math, and images](https://wowchemy.com/docs/writing-markdown-latex/). -- ","date":1594512000,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1594512000,"objectID":"3c8a6b62d623c8621236697995e36e18","permalink":"https://alejandroastudillo.github.io/publication/open-toolchain/","publishdate":"2020-07-12T00:00:00Z","relpermalink":"/publication/open-toolchain/","section":"publication","summary":"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.","tags":[],"title":"Towards an open toolchain for fast nonlinear MPC for serial robots","type":"publication"},{"authors":["Luis Garcia","Alejandro Astudillo","Esteban Rosero"],"categories":[],"content":"","date":1571254433,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1571254433,"objectID":"a140664819f5ab334e5444c1825dc8b6","permalink":"https://alejandroastudillo.github.io/publication/smartphone-mpc/","publishdate":"2019-12-05T20:33:53+01:00","relpermalink":"/publication/smartphone-mpc/","section":"publication","summary":"Several attempts have been made to execute control of a system using only a smartphone's processor running computationally inexpensive algorithms such as PID, LQR or H-inf controllers. This paper presents design and implementation of model predictive controllers on a smartphone using the numerical optimization framework CasADi. To evaluate this framework's performance (and compare its results with those from a Java library JOptimizer's deployment) the implemented model predictive control algorithm was subjected to simulations of running a quadrotor control system on a smartphone. It attained a tracking error of 0.0693 m. These evaluation results open the possibility of implementing more computationally expensive algorithms on a smartphone's processor including online or real-time usage.","tags":[],"title":"Fast model predictive control on a smartphone-based flight controller","type":"publication"},{"authors":[],"categories":[],"content":"Create slides in Markdown with Wowchemy Wowchemy | Documentation\n Features Efficiently write slides in Markdown 3-in-1: Create, Present, and Publish your slides Supports speaker notes Mobile friendly slides Controls Next: Right Arrow or Space Previous: Left Arrow Start: Home Finish: End Overview: Esc Speaker notes: S Fullscreen: F Zoom: Alt + Click PDF Export Code Highlighting Inline code: variable\nCode block:\nporridge = \u0026#34;blueberry\u0026#34; if porridge == \u0026#34;blueberry\u0026#34;: print(\u0026#34;Eating...\u0026#34;) Math In-line math: $x + y = z$\nBlock math:\n$$ f\\left( x \\right) = ;\\frac{{2\\left( {x + 4} \\right)\\left( {x - 4} \\right)}}{{\\left( {x + 4} \\right)\\left( {x + 1} \\right)}} $$\n Fragments Make content appear incrementally\n{{% fragment %}} One {{% /fragment %}} {{% fragment %}} **Two** {{% /fragment %}} {{% fragment %}} Three {{% /fragment %}} Press Space to play!\nOne Two Three A fragment can accept two optional parameters:\n class: use a custom style (requires definition in custom CSS) weight: sets the order in which a fragment appears Speaker Notes Add speaker notes to your presentation\n{{% speaker_note %}} - Only the speaker can read these notes - Press `S` key to view {{% /speaker_note %}} Press the S key to view the speaker notes!\n Only the speaker can read these notes Press S key to view Themes black: Black background, white text, blue links (default) white: White background, black text, blue links league: Gray background, white text, blue links beige: Beige background, dark text, brown links sky: Blue background, thin dark text, blue links night: Black background, thick white text, orange links serif: Cappuccino background, gray text, brown links simple: White background, black text, blue links solarized: Cream-colored background, dark green text, blue links Custom Slide Customize the slide style and background\n{{\u0026lt; slide background-image=\u0026#34;/media/boards.jpg\u0026#34; \u0026gt;}} {{\u0026lt; slide background-color=\u0026#34;#0000FF\u0026#34; \u0026gt;}} {{\u0026lt; slide class=\u0026#34;my-style\u0026#34; \u0026gt;}} Custom CSS Example Let’s make headers navy colored.\nCreate assets/css/reveal_custom.css with:\n.reveal section h1, .reveal section h2, .reveal section h3 { color: navy; } Questions? Ask\nDocumentation\n","date":1549324800,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1549324800,"objectID":"0e6de1a61aa83269ff13324f3167c1a9","permalink":"https://alejandroastudillo.github.io/slides/example/","publishdate":"2019-02-05T00:00:00Z","relpermalink":"/slides/example/","section":"slides","summary":"An introduction to using Wowchemy's Slides feature.","tags":[],"title":"Slides","type":"slides"},{"authors":null,"categories":null,"content":"","date":1546300800,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1546300800,"objectID":"e7c9e19a0e0ad788b8d9ef5563c6073a","permalink":"https://alejandroastudillo.github.io/curriculum/","publishdate":"2019-01-01T00:00:00Z","relpermalink":"/curriculum/","section":"","summary":"","tags":null,"title":"CV","type":"widget_page"},{"authors":["Juan Luna","Alejandro Astudillo","Esteban Rosero","Fabio Guerrero"],"categories":[],"content":"","date":1511469231,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1511469231,"objectID":"962184971b50b6a8d7ff7f8d758778dd","permalink":"https://alejandroastudillo.github.io/publication/silvereye/","publishdate":"2017-11-23T21:33:51+01:00","relpermalink":"/publication/silvereye/","section":"publication","summary":"This work proposes an electronic system, Silvereye, focused on the analysis of human gait kinematics based on inertial sensors. This system is a tool to perform clinical diagnoses and monitor rehabilitation processes, since it is compact, portable and wireless, allowing gait processes to be measured non-invasively and without altering them. In addition to exposing the physical and logical topologies of the system, this work proposes an algorithmic procedure to align the axes of an inertial sensor with those of a corresponding lower segment, so that the sensor can be arbitrarily located in the segment. Additionally, the system implements a method to calculate the joint angles of flexion / extension (equivalent to the movements of the lower segments in the sagittal plane) and provides an interface that allows the movements of the user to be represented online using a three-dimensional avatar. The system was tested on an ideal joint and on a human knee using a two-dimensional vision system as a means of comparison. When comparing the calculated sagittal angles and the references obtained from the vision system, a mean square error (standard deviation) of 1.65 ° (0.55 °) is obtained for tests on an ideal joint and 1.84 ° (0.48 °) for tests on a human knee, with a correlation of r = 0.99 in both cases.","tags":[],"title":"Silvereye, sistema electrónico para el análisis de la marcha humana en el plano sagital a partir de sensores inerciales","type":"publication"},{"authors":["Alejandro Astudillo","Bladimir Bacca","Esteban Rosero"],"categories":[],"content":"","date":1508358409,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1508358409,"objectID":"22121d15b91a7cf91f0d87f6e1d272b5","permalink":"https://alejandroastudillo.github.io/publication/smartphone-quadrotor-optimal/","publishdate":"2018-02-01T21:26:49+01:00","relpermalink":"/publication/smartphone-quadrotor-optimal/","section":"publication","summary":"In this paper, a flight control system for a smartphone-based quadrotor is proposed. The sensing, the state estimation and control algorithms in this quadrotor are exclusively executed by the smartphone on-board. Two control architectures for this quadrotor are here presented: a LQG controller with gain compensation for reference tracking and a controller. Due to the shortcomings of smartphones' sensors, a Kalman filter for state estimation is proposed. We also present simulation results of the proposed system using dynamic models and real quadrotor parameters. These results demonstrate the performance advantages of the LQG and controllers. An absolute error of less than 2.4 ± 0.001 m while take-off and landing, and 1.1 ± 0.001 m while following a mission path is achieved.","tags":[],"title":"Optimal and robust controllers design for a smartphone-based quadrotor","type":"publication"},{"authors":["Alejandro Astudillo","Pedro Muñoz","Fredy Álvarez","Esteban Rosero"],"categories":[],"content":"","date":1497557359,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1497557359,"objectID":"4b7e2dff647c5b3d73b5d93bac625e13","permalink":"https://alejandroastudillo.github.io/publication/smartphone-quadrotor-pid/","publishdate":"2017-07-27T21:09:19+01:00","relpermalink":"/publication/smartphone-quadrotor-pid/","section":"publication","summary":"This paper presents the design and implementation of Android-based cascade PID controller structures to control the altitude and attitude of a quadcopter, and the sensor fusion algorithms implemented to estimate its flight dynamics. The main goal of this research is to stabilize the attitude of an unmanned aerial vehicle (UAV), such as a quadcopter, and control its altitude using exclusively the sensors and processor of a smartphone on-board. As the sensors embedded in the smartphones are not accurate enough to measure the altitude of the quadcopter, a linear Kalman filter for relative altitude estimation was designed and implemented. Here, it is described precisely the hardware that was used to build the test platform, the non-linear an linearized quadcopter model, the software structure to execute the controllers in the smartphone, the sensor fusion algorithms implemented to obtain reliable data from the smartphone sensors, and the cascade PID controllers design. Finally, the success of the proposed system is evidenced in the results of a set of experimental tests. In these tests, the quadcopter attitude was regulated after some disturbances were applied to the system and its altitude was controlled after the reference was changed.","tags":[],"title":"Altitude and attitude cascade controller for a smartphone-based quadcopter","type":"publication"},{"authors":null,"categories":null,"content":"Lorem ipsum dolor sit amet, consectetur adipiscing elit. Duis posuere tellus ac convallis placerat. Proin tincidunt magna sed ex sollicitudin condimentum. Sed ac faucibus dolor, scelerisque sollicitudin nisi. Cras purus urna, suscipit quis sapien eu, pulvinar tempor diam. Quisque risus orci, mollis id ante sit amet, gravida egestas nisl. Sed ac tempus magna. Proin in dui enim. Donec condimentum, sem id dapibus fringilla, tellus enim condimentum arcu, nec volutpat est felis vel metus. Vestibulum sit amet erat at nulla eleifend gravida.\nNullam vel molestie justo. Curabitur vitae efficitur leo. In hac habitasse platea dictumst. Sed pulvinar mauris dui, eget varius purus congue ac. Nulla euismod, lorem vel elementum dapibus, nunc justo porta mi, sed tempus est est vel tellus. Nam et enim eleifend, laoreet sem sit amet, elementum sem. Morbi ut leo congue, maximus velit ut, finibus arcu. In et libero cursus, rutrum risus non, molestie leo. Nullam congue quam et volutpat malesuada. Sed risus tortor, pulvinar et dictum nec, sodales non mi. Phasellus lacinia commodo laoreet. Nam mollis, erat in feugiat consectetur, purus eros egestas tellus, in auctor urna odio at nibh. Mauris imperdiet nisi ac magna convallis, at rhoncus ligula cursus.\nCras aliquam rhoncus ipsum, in hendrerit nunc mattis vitae. Duis vitae efficitur metus, ac tempus leo. Cras nec fringilla lacus. Quisque sit amet risus at ipsum pharetra commodo. Sed aliquam mauris at consequat eleifend. Praesent porta, augue sed viverra bibendum, neque ante euismod ante, in vehicula justo lorem ac eros. Suspendisse augue libero, venenatis eget tincidunt ut, malesuada at lorem. Donec vitae bibendum arcu. Aenean maximus nulla non pretium iaculis. Quisque imperdiet, nulla in pulvinar aliquet, velit quam ultrices quam, sit amet fringilla leo sem vel nunc. Mauris in lacinia lacus.\nSuspendisse a tincidunt lacus. Curabitur at urna sagittis, dictum ante sit amet, euismod magna. Sed rutrum massa id tortor commodo, vitae elementum turpis tempus. Lorem ipsum dolor sit amet, consectetur adipiscing elit. Aenean purus turpis, venenatis a ullamcorper nec, tincidunt et massa. Integer posuere quam rutrum arcu vehicula imperdiet. Mauris ullamcorper quam vitae purus congue, quis euismod magna eleifend. Vestibulum semper vel augue eget tincidunt. Fusce eget justo sodales, dapibus odio eu, ultrices lorem. Duis condimentum lorem id eros commodo, in facilisis mauris scelerisque. Morbi sed auctor leo. Nullam volutpat a lacus quis pharetra. Nulla congue rutrum magna a ornare.\nAliquam in turpis accumsan, malesuada nibh ut, hendrerit justo. Cum sociis natoque penatibus et magnis dis parturient montes, nascetur ridiculus mus. Quisque sed erat nec justo posuere suscipit. Donec ut efficitur arcu, in malesuada neque. Nunc dignissim nisl massa, id vulputate nunc pretium nec. Quisque eget urna in risus suscipit ultricies. Pellentesque odio odio, tincidunt in eleifend sed, posuere a diam. Nam gravida nisl convallis semper elementum. Morbi vitae felis faucibus, vulputate orci placerat, aliquet nisi. Aliquam erat volutpat. Maecenas sagittis pulvinar purus, sed porta quam laoreet at.\n","date":1461715200,"expirydate":-62135596800,"kind":"page","lang":"en","lastmod":1461715200,"objectID":"e8f8d235e8e7f2efd912bfe865363fc3","permalink":"https://alejandroastudillo.github.io/project/example/","publishdate":"2016-04-27T00:00:00Z","relpermalink":"/project/example/","section":"project","summary":"An example of using the in-built project page.","tags":["Deep Learning"],"title":"Example Project","type":"project"}] \ No newline at end of file diff --git a/index.xml b/index.xml index bf80692..7ebcb8f 100644 --- a/index.xml +++ b/index.xml @@ -5,13 +5,21 @@ https://alejandroastudillo.github.io/ Alejandro Astudillo - Wowchemy (https://wowchemy.com)en-usTue, 27 Jun 2023 13:52:54 +0200 + Wowchemy (https://wowchemy.com)en-usTue, 16 Jul 2024 10:00:00 -0400 https://alejandroastudillo.github.io/media/icon_hud665afb12f4cc26e22130f72ce760bd4_7192_512x512_fill_lanczos_center_3.png Alejandro Astudillo https://alejandroastudillo.github.io/ + + Workshop on optimal control problems and model predictive control for autonomous systems + https://alejandroastudillo.github.io/talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/ + Tue, 16 Jul 2024 10:00:00 -0400 + https://alejandroastudillo.github.io/talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/ + + + Smartphone-Based Wearable Gait Monitoring System Using Wireless Inertial Sensors https://alejandroastudillo.github.io/publication/gait-monitoring/ diff --git a/sitemap.xml b/sitemap.xml index e247e40..8cd6c69 100644 --- a/sitemap.xml +++ b/sitemap.xml @@ -4,9 +4,13 @@ - https://alejandroastudillo.github.io/publication-type/2/2023-06-27T13:52:54+02:00weekly + https://alejandroastudillo.github.io/2024-07-16T10:00:00-04:00weekly + + https://alejandroastudillo.github.io/event/2024-07-16T10:00:00-04:00weekly - https://alejandroastudillo.github.io/2023-06-27T13:52:54+02:00weekly + https://alejandroastudillo.github.io/talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/2024-07-16T10:00:00-04:00weekly + + https://alejandroastudillo.github.io/publication-type/2/2023-06-27T13:52:54+02:00weekly https://alejandroastudillo.github.io/publication_types/2023-06-27T13:52:54+02:00weekly @@ -15,8 +19,6 @@ https://alejandroastudillo.github.io/publication/gait-monitoring/2023-06-27T13:52:54+02:00weekly https://alejandroastudillo.github.io/talk/avances-en-la-aplicacion-industrial-del-control-predictivo-basado-en-modelos-para-sistemas-roboticos-mejora-de-la-eficiencia-computacional-y-facilitacion-de-la-implementacion/2023-06-08T17:15:00+02:00weekly - - https://alejandroastudillo.github.io/event/2023-06-08T17:15:00+02:00weekly https://alejandroastudillo.github.io/publication-type/7/2023-05-15T17:00:00+02:00weekly diff --git a/talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/index.html b/talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/index.html new file mode 100644 index 0000000..4a4f9f7 --- /dev/null +++ b/talk/workshop-on-optimal-control-problems-and-model-predictive-control-for-autonomous-systems/index.html @@ -0,0 +1,1325 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Workshop on optimal control problems and model predictive control for autonomous systems | Alejandro Astudillo + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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Workshop on optimal control problems and model predictive control for autonomous systems

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Abstract

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In this workshop, participants will engage in hands-on exploration of optimal control problems (OCPs) applied to motion planning and model predictive control (MPC) in autonomous robotic systems. By engaging with cutting-edge tools and techniques, participants will develop the skills necessary to navigate complex environments, optimize trajectory paths, and execute tasks with precision and efficiency in robotic systems. +To streamline the guided exercises, the workshop makes use of the free and open-source Rockit [1] and Impact [2][3] software frameworks developed by the MECO Research Team at KU Leuven and built on top of the numerical optimization framework CasADi [4], designed for efficient nonlinear programming. +Exercises will be mainly in Python, and Docker images containing a development and simulation environment will be provided. Attendees can later adopt the presented open-source software frameworks in their research. +While foundational concepts of OCPs will be introduced, the course focuses on learning-by-doing. The course prioritizes practical know-how, enabling participants to directly apply Rockit and Impact to tackle real-world robotic challenges. The attendees will learn to formulate and solve OCPs, gaining valuable experience in implementing trajectory optimization algorithms and MPC strategies. Moreover, participants will learn how to swiftly deploy OCPs and MPCs in C, Python and ROS 2. +This workshop is organized by members of the MECO Research Team of KU Leuven, Belgium. The MECO Research Team focusses on modeling, estimation, identification, analysis and optimal control of motion and motion systems such as mechatronic systems or machine tools. It combines theoretical contributions (development of design methodologies) with experimental knowhow (implementation and experimental validation on lab-scale as well as industrial setups). The theoretical research benefits from the group’s expertise on numerical optimization, especially convex optimization.

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Date
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+ Jul 16, 2024 10:00 AM — Jul 17, 2024 3:15 PM +
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Location
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OCP/MPC Workshop 2024 - MIT MISTI
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MIT Building 24, Room 24-115, Cambridge, MA
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+ + + Alejandro Astudillo + + +
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Alejandro Astudillo
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Postdoctoral Researcher
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Passionate about robotics and outer space. Researching on real-time motion planning and fast model predictive control for robots. Other research topics include execution of control and estimation algorithms on a smartphone-based flight controller for a quadrotor.

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+ © 2020 - 2024 Alejandro Astudillo +

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+ + + + + + + + + + Published with Wowchemy — the free, open source website builder that empowers creators. + +

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