Wilm Decré

79 papers A* 6A 6Journal 38Unranked 29
YearRankTypeTitle / Venue / Authors
2026 J jnl
Accelerated Spline-Based Time-Optimal Motion Planning with Continuous Safety Guarantees for Non-Differentially Flat Systems.
CoRR
Dries Dirckx, Jan Swevers, Wilm Decré
2026 J jnl
Fast Motion Planning for Non-Holonomic Mobile Robots via a Rectangular Corridor Representation of Structured Environments.
CoRR
Alejandro Gonzalez-Garcia, Sebastiaan Wyns, Sonia De Santis, Jan Swevers, Wilm Decré
2026 J jnl
Fast Near Time-Optimal Motion Planning for Holonomic Vehicles in Structured Environments.
CoRR
Louis Callens, Bastiaan Vandewal, Ibrahim Ibrahim, Jan Swevers, Wilm Decré
2026 J jnl
Mechatronic Design and Control of a Robotized Crane Exploiting Natural Dynamics for Pick-and-Place Applications.
IEEE Trans. Robotics
Boris Deroo, Erwin Aertbeliën, Wilm Decré, Herman Bruyninckx
2026 J jnl
Multi-Agent Motion Planning on Industrial Magnetic Levitation Platforms: A Hybrid ADMM-HOCBF approach.
CoRR
Bavo Tistaert, Stan Servaes, Alejandro Gonzalez-Garcia, Ibrahim Ibrahim, Louis Callens, Jan Swevers, Wilm Decré
2025 J jnl
A harmonious synergy between robotic performance and well-being in human-robot collaboration: A vision and key recommendations.
Annu. Rev. Control.
Nicole Berx, Wilm Decré, Joris De Schutter, Liliane Pintelon
2025 J jnl
ASAP-MPC: an asynchronous update scheme for online motion planning with nonlinear model predictive control.
Auton. Robots
Dries Dirckx, Mathias Bos, Bastiaan Vandewal, Lander Vanroye, Jan Swevers, Wilm Decré
2025 J jnl
Accelerated Multi-Modal Motion Planning Using Context-Conditioned Diffusion Models.
CoRR
Sandra Edwards, Lander Vanroye, Dries Dirckx, Ruben Cartuyvels, Jan Swevers, Wilm Decré
2025 J jnl
Accelerated Reeds-Shepp and Under-Specified Reeds-Shepp Algorithms for Mobile Robot Path Planning.
CoRR
Ibrahim Ibrahim, Wilm Decré, Jan Swevers
2025 J jnl
Accelerated Reeds-Shepp and Underspecified Reeds-Shepp Algorithms for Mobile Robot Path Planning.
IEEE Trans. Robotics
Ibrahim Ibrahim, Wilm Decré, Jan Swevers
2025 — conf
Combining Learning from Demonstration with Constraint-based Control for Reactive Robotic Interaction with Dynamic Targets.
ICCMA
Parsa Baharestan, Riccardo Burlizzi, Wilm Decré, Erwin Aertbeliën, Maxim Vochten
2025 — conf
Decoupling Collision Avoidance in and for Optimal Control using Least-Squares Support Vector Machines.
CDC
Dries Dirckx, Jan Swevers, Wilm Decré
2025 J jnl
Decoupling Collision Avoidance in and for Optimal Control using Least-Squares Support Vector Machines.
CoRR
Dries Dirckx, Wilm Decré, Jan Swevers
2025 J jnl
From Instantaneous to Predictive Control: A More Intuitive and Tunable MPC Formulation for Robot Manipulators.
IEEE Robotics Autom. Lett.
Johan Ubbink, Ruan Viljoen, Erwin Aertbeliën, Wilm Decré, Joris De Schutter
2025 — conf
Practical Approaches for Time-Optimal MPC: Dual Stage and Artificial Reference Methods.
ECC
Alvaro Florez, Wilm Decré, Jan Swevers
2025 A conf
Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels.
IROS
Alejandro Gonzalez-Garcia, Wei Xiao, Wei Wang, Alejandro Astudillo, Wilm Decré, Jan Swevers, Carlo Ratti, Daniela Rus
2025 J jnl
Safe Motion Planning and Control Using Predictive and Adaptive Barrier Methods for Autonomous Surface Vessels.
CoRR
Alejandro Gonzalez-Garcia, Wei Xiao, Wei Wang, Alejandro Astudillo, Wilm Decré, Jan Swevers, Carlo Ratti, Daniela Rus
2025 — conf
Smooth Control Strategies for Path-Following on Computationally Constrained Mobile Robots with Discontinuous Localization.
ECC
Yannick Claes, Lucas Tielens, Sonia De Santis, Alejandro Gonzalez-Garcia, Wilm Decré, Jan Swevers
2024 J jnl
ASAP-MPC: An Asynchronous Update Scheme for Online Motion Planning with Nonlinear Model Predictive Control.
CoRR
Dries Dirckx, Mathias Bos, Bastiaan Vandewal, Lander Vanroye, Wilm Decré, Jan Swevers
2024 — conf
AdaptiveNLP: a Framework for Efficient Online Adaptability in NLP Structures for Optimal Control Problems.
ECC
Louis Callens, Joris Gillis, Wilm Decré, Jan Swevers
2024 — conf
An Almost Feasible Sequential Linear Programming Algorithm.
ECC
David Kiessling, Charlie Vanaret, Alejandro Astudillo, Wilm Decré, Jan Swevers
2024 A* conf
An Efficient Solution to the 2D Visibility Problem in Cartesian Grid Maps and its Application in Heuristic Path Planning.
ICRA
Ibrahim Ibrahim, Joris Gillis, Wilm Decré, Jan Swevers
2024 J jnl
An Efficient Solution to the 2D Visibility Problem in Cartesian Grid Maps and its Application in Heuristic Path Planning.
CoRR
Ibrahim Ibrahim, Joris Gillis, Wilm Decré, Jan Swevers
2024 — conf
Analytical Planner and Replanner of Minimum-Time Trajectories for Unicycle Robots Moving in Corridors.
AMC
Sonia De Santis, Alejandro Astudillo, Wilm Decré, Jan Swevers
2024 — conf
Contactless Surface Following with Acceleration Limits: Enhancing Robot Manipulator Performance through Model Predictive Control.
ECC
Johan Ubbink, Ruan Viljoen, Erwin Aertbeliën, Wilm Decré, Joris De Schutter
2024 J jnl
Efficient Constrained Dynamics Algorithms Based on an Equivalent LQR Formulation Using Gauss' Principle of Least Constraint.
IEEE Trans. Robotics
Ajay Suresha Sathya, Herman Bruyninckx, Wilm Decré, Goele Pipeleers
2024 J jnl
Exact Wavefront Propagation for Globally Optimal One-to-All Path Planning on 2D Cartesian Grids.
CoRR
Ibrahim Ibrahim, Joris Gillis, Wilm Decré, Jan Swevers
2024 J jnl
Exact Wavefront Propagation for Globally Optimal One-to-All Path Planning on 2D Cartesian Grids.
IEEE Robotics Autom. Lett.
Ibrahim Ibrahim, Joris Gillis, Wilm Decré, Jan Swevers
2024 J jnl
Fast Generation of Feasible Trajectories in Direct Optimal Control.
IEEE Control. Syst. Lett.
David Kiessling, Katrin Baumgärtner, Jonathan Frey, Wilm Decré, Jan Swevers, Moritz Diehl
2024 J jnl
From Instantaneous to Predictive Control: A More Intuitive and Tunable MPC Formulation for Robot Manipulators.
CoRR
Johan Ubbink, Ruan Viljoen, Erwin Aertbeliën, Wilm Decré, Joris De Schutter
2024 J jnl
PV-OSIMr: A Lowest Order Complexity Algorithm for Computing the Delassus Matrix.
IEEE Robotics Autom. Lett.
Ajay Suresha Sathya, Wilm Decré, Jan Swevers
2024 — conf
Rapid Deployment of Model Predictive Control for Robotic Systems: From IMPACT to ROS 2 Through Code Generation.
AMC
Alejandro Astudillo, Alvaro Florez, Wilm Decré, Jan Swevers
2024 A* conf
Robustified Time-optimal Collision-free Motion Planning for Autonomous Mobile Robots under Disturbance Conditions.
ICRA
Shuhao Zhang, Mathias Bos, Bastiaan Vandewal, Wilm Decré, Joris Gillis, Jan Swevers
2024 — conf
Time-Optimal Model Predictive Control Using Feasibility Governors.
ECC
Alvaro Florez, Alejandro Astudillo, Wilm Decré, Jan Swevers
2024 — conf
Towards the Analytical Computation of Time-Optimal Trajectories for Unicycle Robots in Corridor Environments.
ECC
Sonia De Santis, Alejandro Astudillo, Wilm Decré, Jan Swevers
2023 — conf
A Methodology for Robustly Monitoring Assembly Insertion Skills.
CASE
Federico Ulloa Rios, Wilm Decré, Erwin Aertbeliën, Herman Bruyninckx
2023 A* conf
An Optimal Open-Loop Strategy for Handling a Flexible Beam with a Robot Manipulator.
ICRA
Shamil Mamedov, Alejandro Astudillo, Daniele Ronzani, Wilm Decré, Jean-Philippe Noël, Jan Swevers
2023 — conf
Composition of Reactive Coordinated Execution for IEC 62264 Work Centers and Work Units: Best Practices for Traceability and Stability.
CASE
Maria I. Artigas, Rômulo T. Rodrigues, Wilm Decré, Herman Bruyninckx
2023 J jnl
Efficient Constrained Dynamics Algorithms based on an Equivalent LQR Formulation using Gauss' Principle of Least Constraint.
CoRR
Ajay Suresha Sathya, Herman Bruyninckx, Wilm Decré, Goele Pipeleers
2023 J jnl
Energy-Efficient Control of Cable Robots Exploiting Natural Dynamics and Task Knowledge.
CoRR
Boris Deroo, Erwin Aertbeliën, Wilm Decré, Herman Bruyninckx
2023 — conf
Enhancing Constraint-Based Robot Task Specification with Dual Controller and Estimator Synthesis.
CASE
Ruan Viljoen, Johan Ubbink, Goele Pipeleers, Wilm Decré, Erwin Aertbeliën, Joris De Schutter
2023 J jnl
Exploring a cobot risk assessment approach combining FMEA and PRAT.
Qual. Reliab. Eng. Int.
Teresa Murino, Mario Di Nardo, Daniele Pollastro, Nicole Berx, Angela Di Francia, Wilm Decré, Johan Philips, Liliane Pintelon
2023 J jnl
FATROP : A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control.
CoRR
Lander Vanroye, Ajay Sathya, Joris De Schutter, Wilm Decré
2023 A conf
FATROP: A Fast Constrained Optimal Control Problem Solver for Robot Trajectory Optimization and Control.
IROS
Lander Vanroye, Ajay Sathya, Joris De Schutter, Wilm Decré
2023 J jnl
IMPACT: A Toolchain for Nonlinear Model Predictive Control Specification, Prototyping, and Deployment.
CoRR
Alvaro Florez, Alejandro Astudillo, Wilm Decré, Jan Swevers, Joris Gillis
2023 J jnl
MPC-based Motion Planning for Autonomous Truck-Trailer Maneuvering.
CoRR
Mathias Bos, Bastiaan Vandewal, Wilm Decré, Jan Swevers
2023 J jnl
PV-OSIMr: A Lowest Order Complexity Algorithm for Computing the Delassus Matrix.
CoRR
Ajay Suresha Sathya, Wilm Decré, Jan Swevers
2023 — conf
Shape-Based Path Adaptation and Simulation-Based Velocity Optimization of Initial Tool Trajectories for Robotic Spray Painting.
CASE
Arno Verduyn, Joris De Schutter, Wilm Decré, Maxim Vochten
2023 — conf
The Need for Task-Specific Execution in Robot Manipulation: Skill Design for Energy-Efficient Control.
CASE
Boris Deroo, Brendan Pousett, Erwin Aertbeliën, Wilm Decré, Herman Bruyninckx
2022 A* conf
A Simple Formulation for Fast Prioritized Optimal Control of Robots using Weighted Exact Penalty Functions.
ICRA
Ajay Suresha Sathya, Wilm Decré, Goele Pipeleers, Jan Swevers
2022 J jnl
An optimal open-loop strategy for handling a flexible beam with a robot manipulator.
CoRR
Shamil Mamedov, Alejandro Astudillo, Daniele Ronzani, Wilm Decré, Jean-Philippe Noël, Jan Swevers
2022 — conf
Dual Constraint-Based Controllers for Wheeled Mobile Manipulators.
CASE
Umut Caliskan, Federico Ulloa Rios, Wilm Decré, Erwin Aertbeliën
2022 J jnl
Identification and classification of risk factors for human-robot collaboration from a system-wide perspective.
Comput. Ind. Eng.
Nicole Berx, Wilm Decré, Ido Morag, Peter Chemweno, Liliane Pintelon
2022 J jnl
Position and Orientation Tunnel-Following NMPC of Robot Manipulators Based on Symbolic Linearization in Sequential Convex Quadratic Programming.
IEEE Robotics Autom. Lett.
Alejandro Astudillo, Joris Gillis, Moritz Diehl, Wilm Decré, Goele Pipeleers, Jan Swevers
2022 A conf
Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills.
IROS
Ajay Suresha Sathya, Alejandro Astudillo, Joris Gillis, Wilm Decré, Goele Pipeleers, Jan Swevers
2021 — conf
A Smooth Reformulation of Collision Avoidance Constraints in Trajectory Planning.
AMC
Dries Dirckx, Joris Gillis, Jan Swevers, Wilm Decré, Goele Pipeleers
2021 J jnl
A Weighted Method for Fast Resolution of Strictly Hierarchical Robot Task Specifications Using Exact Penalty Functions.
IEEE Robotics Autom. Lett.
Ajay Suresha Sathya, Goele Pipeleers, Wilm Decré, Jan Swevers
2021 J jnl
Autonomous Runtime Composition of Sensor-Based Skills Using Concurrent Task Planning.
IEEE Robotics Autom. Lett.
Yudha P. Pane, Vahid Mokhtari, Erwin Aertbeliën, Joris De Schutter, Wilm Decré
2021 — conf
Development of a flexible link setup for an advanced linear control theory course.
AMC
Laurens Jacobs, Wilm Decré, Jan Swevers, Goele Pipeleers
2021 — conf
Multi-stage Optimal Control Problem Formulation for Drone Racing Through Gates and Tunnels.
AMC
Mathias Bos, Wilm Decré, Jan Swevers, Goele Pipeleers
2021 — conf
Psychosocial Impact of Collaborating with an Autonomous Mobile Robot: Results of an Exploratory Case Study.
HRI (Companion)
Nicole Berx, Liliane Pintelon, Wilm Decré
2021 — conf
Safe-Planner: A Single-Outcome Replanner for Computing Strong Cyclic Policies in Fully Observable Non-Deterministic Domains.
ICAR
Vahid Mokhtari, Ajay Suresha Sathya, Nikolaos Tsiogkas, Wilm Decré
2021 J jnl
Safe-Planner: A Single-Outcome Replanner for Computing Strong Cyclic Policies in Fully Observable Non-Deterministic Domains.
CoRR
Vahid Mokhtari, Ajay Suresha Sathya, Nikolaos Tsiogkas, Wilm Decré
2021 J jnl
Shape-Preserving and Reactive Adaptation of Robot End-Effector Trajectories.
IEEE Robotics Autom. Lett.
Maxim Vochten, Wilm Decré, Erwin Aertbeliën, Joris De Schutter
2021 — conf
Specification and Control of Human-Robot Handovers Using Constraint-Based Programming.
HFR
Maxim Vochten, Lander Vanroye, Jeroen Lambeau, Ken Meylemans, Wilm Decré, Joris De Schutter
2021 — conf
Speed-Up of Nonlinear Model Predictive Control for Robot Manipulators Using Task and Data Parallelism.
AMC
Alejandro Astudillo, Joris Gillis, Goele Pipeleers, Wilm Decré, Jan Swevers
2020 J jnl
A System Architecture for CAD-Based Robotic Assembly With Sensor-Based Skills.
IEEE Trans Autom. Sci. Eng.
Yudha P. Pane, Mathias Hauan Arbo, Erwin Aertbeliën, Wilm Decré
2020 J jnl
Estimating the Instantaneous Screw Axis and the Screw Axis Invariant Descriptor of Motion by Means of Inertial Sensors: An Experimental Study with a Mechanical Hinge Joint and Comparison to the Optoelectronic System.
Sensors
Andrea Ancillao, Maxim Vochten, Erwin Aertbeliën, Wilm Decré, Joris De Schutter
2020 A conf
Skill-based Programming Framework for Composable Reactive Robot Behaviors.
IROS
Yudha P. Pane, Erwin Aertbeliën, Joris De Schutter, Wilm Decré
2019 — conf
Combined H
ECC
Taranjitsingh Singh, ZhongZhe Dong, Massimo De Mauri, Wilm Decré, Jan Swevers, Goele Pipeleers
2019 — conf
Identification of Linear Parameter-Varying Systems Using B-splines.
ECC
Dora Turk, Laurens Jacobs, Taranjitsingh Singh, Wilm Decré, Jan Swevers
2018 — conf
A System Architecture for Constraint-Based Robotic Assembly with CAD Information.
CASE
Mathias Hauan Arbo, Yudha P. Pane, Erwin Aertbeliën, Wilm Decré
2013 A* conf
Extending the iTaSC Constraint-based Robot Task Specification Framework to Time-Independent Trajectories and User-Configurable Task Horizons.
ICRA
Wilm Decré, Herman Bruyninckx, Joris De Schutter
2012 — conf
Force-Sensorless and Bimanual Human-Robot Comanipulation.
SyRoCo
Dominick Vanthienen, Tinne De Laet, Wilm Decré, Herman Bruyninckx, Joris De Schutter
2011 A conf
Haptic coupling with augmented feedback between two KUKA Light-Weight Robots and the PR2 robot arms.
IROS
Koen Buys, Steven Bellens, Wilm Decré, Ruben Smits, Enea Scioni, Tinne De Laet, Joris De Schutter, Herman Bruyninckx
2010 — conf
An Optimization-Based Estimation and Adaptive Control Approach for Human-Robot Cooperation.
ISER
Wilm Decré, Herman Bruyninckx, Joris De Schutter
2009 A* conf
Extending iTaSC to support inequality constraints and non-instantaneous task specification.
ICRA
Wilm Decré, Ruben Smits, Herman Bruyninckx, Joris De Schutter
2007 A conf
An application of constraint-based task specification and estimation for sensor-based robot systems.
IROS
Tinne De Laet, Wilm Decré, Johan Rutgeerts, Herman Bruyninckx, Joris De Schutter
2007 J jnl
Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty.
Int. J. Robotics Res.
Joris De Schutter, Tinne De Laet, Johan Rutgeerts, Wilm Decré, Ruben Smits, Erwin Aertbeliën, Kasper Claes, Herman Bruyninckx