Search Results - "Optimization and Optimal Control"

Pushing Everything Everywhere All at Once: Probabilistic Prehensile Pushing

Authors: Perugini, Patrizio Lundell, Jens Friedl, Katharina et al.

Source: IEEE Robotics and Automation Letters. 10(5):4540-4547

Subject Terms: Dexterous manipulation, manipulation planning, optimization and optimal control

File Description: print

Access URL: https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-362513
https://doi.org/10.1109/LRA.2025.3552267

Predictive Admittance Control for Aerial Physical Interaction

Authors: Ayham Alharbat Chiara Gabellieri Abeje Y. Mersha et al.

Source: IEEE Robotics and Automation Letters. 10:11235-11242

Subject Terms: aerial physical interaction, Aerial systems: mechanics and control, compliance and impedance control, optimization and optimal control, physical interaction control

Access URL: https://hdl.handle.net/11573/1748866
https://doi.org/10.1109/LRA.2025.3608653

Robust Sensitivity-Aware Chance-Constrained MPC for Efficient Handling of Multiple Uncertainty Sources

Authors: Zhu, James Simeon, Thierry Cognetti, Marco

Contributors: Zhu, James Simeon, Thierry Cognetti, Marco

Source: IEEE Robotics and Automation Letters. 10:10330-10337

Subject Terms: [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Optimization and Optimal Control, Planning under Uncertainty, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], Robust/Adaptive Control

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Access URL: https://hal.science/hal-05208652v1/document
https://doi.org/10.1109/lra.2025.3597863
https://hal.science/hal-05208652v1

A Nonlinear MPC for Physical Human-Aerial Robot Interaction in Collaborative Transportation Tasks

Authors: Gonzalez-Morgado, Antonio Soueidan, Jonas Heredia, Guillermo et al.

Contributors: Gonzalez-Morgado, Antonio Soueidan, Jonas Heredia, Guillermo et al.

Source: IEEE Robotics and Automation Letters. 10:9670-9677

Subject Terms: Physical Human-Robot Interaction, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Optimization and Optimal Control, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-HC] Computer Science [cs]/Human-Computer Interaction [cs.HC], Aerial Systems: Mechanics and Control

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Access URL: https://hal.science/hal-05208698v1/document
https://hal.science/hal-05208698v1
https://doi.org/10.1109/lra.2025.3597854

On the Computation of Sensitivity Tubes

Authors: Andrea Pupa Tommaso Belvedere Cristian Secchi et al.

Contributors: Andrea Pupa Tommaso Belvedere Cristian Secchi et al.

Source: IEEE Robotics and Automation Letters. 10:8802-8809

Subject Terms: Integrated Planning and Control, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Planning under Uncertainty, Optimization and Optimal Control

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Access URL: https://hal.science/hal-05158394v1/document
https://doi.org/10.1109/lra.2025.3587562
https://hal.science/hal-05158394v1

QP-Based Inner-Loop Control for Constraint-Safe and Robust Trajectory Tracking for Aerial Robots

Authors: Balandi, Lorenzo Giordano, Paolo Robuffo Tognon, Marco

Contributors: Balandi, Lorenzo Giordano, Paolo Robuffo Tognon, Marco

Source: IEEE Robotics and Automation Letters. 10:6640-6647

Subject Terms: [INFO.INFO-SY] Computer Science [cs]/Systems and Control [cs.SY], Motion Control, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Optimization and Optimal Control, [MATH.MATH-OC] Mathematics [math]/Optimization and Control [math.OC], [INFO.INFO-AU] Computer Science [cs]/Automatic Control Engineering, Aerial Systems: Mechanics and Control

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A Linear Complementarity based MPC for Aerial Physical Interaction

Authors: Fuser, Riccardo Nguyen, Hai-Nguyen Incremona, Gian Paolo et al.

Contributors: Fuser, Riccardo Nguyen, Hai-Nguyen Incremona, Gian Paolo et al.

Source: 2025 International Conference on Unmanned Aircraft Systems (ICUAS). :982-987

Subject Terms: [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Optimization and Optimal Control, Quadrotor control, Robotics, Linear Complementarity Problem, Aerial robots, MPC Model-based Predictive Control

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Nonlinear model predictive control for hydrobatics: Experiments with an underactuated AUV

Authors: Bhat, Sriharsha Panteli, Chariklia Stenius, Ivan et al.

Source: Journal of Field Robotics. 40(7):1840-1859

Subject Terms: Underactuated robots, optimization and optimal control, marine robotics, field testing, autonomous underwater vehicles, model predictive control, nonlinear systems, simulation, Vehicle and Maritime Engineering, Farkostteknik

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Access URL: https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-336517
https://doi.org/10.1002/rob.22218

Trajectory Planning and Control for Robotic Manipulation of Magnetic Capsules

Authors: Ogulcan Isitman Gokhan Alcan Ville Kyrki et al.

Contributors: Ogulcan Isitman Gokhan Alcan Ville Kyrki et al.

Source: IEEE Robotics and Automation Letters. 10:4666-4673

Subject Terms: Medical Robots and Systems, Manipulation Planning, Optimization and Optimal Control

File Description: application/pdf

Access URL: https://aaltodoc.aalto.fi/handle/123456789/134977

Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty

Authors: Tommaso Belvedere Marco Cognetti Giuseppe Oriolo et al.

Contributors: Tommaso Belvedere Marco Cognetti Giuseppe Oriolo et al.

Source: IEEE Transactions on Robotics. 41:3039-3058

Subject Terms: [SPI.AUTO] Engineering Sciences [physics]/Automatic, model predictive control (MPC), optimization and optimal control, Aerial systems, Aerial Systems: Mechanics and Control, Model Predictive Control, Optimization and Optimal Control, Robust/Adaptive Control of Robotic Systems, mechanics and control, robust/adaptive control of robotic systems

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Access URL: https://hdl.handle.net/11573/1738723
https://doi.org/10.1109/TRO.2025.3554415

Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty

Authors: Ali Srour Antonio Franchi Paolo Robuffo Giordano et al.

Contributors: Ali Srour Antonio Franchi Paolo Robuffo Giordano et al.

Source: IEEE Robotics and Automation Letters. 10:1561-1568

Subject Terms: Manipulation Planning, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Planning under Uncertainty, Optimization and Optimal Control, [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]

File Description: application/pdf

Access URL: https://hal.science/hal-04816507v1/document
https://doi.org/10.1109/lra.2024.3519857
https://hal.science/hal-04816507v1

Generating and Optimizing Topologically Distinct Guesses for Mobile Manipulator Path Planning with Path Constraints

Authors: Wong, Rufus Cheuk Yin Sewlia, Mayank Wiltz, Adrian et al.

Source: IEEE Robotics and Automation Letters. 10(12):12453-12460

Subject Terms: Constrained Motion Planning, Mobile Manipulation, Motion and Path Planning, Optimization and Optimal Control

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Access URL: https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-372562

Structure-Exploiting Sequential Quadratic Programming for Model-Predictive Control

Authors: Armand Jordana Sébastien Kleff Avadesh Meduri et al.

Contributors: Armand Jordana Sébastien Kleff Avadesh Meduri et al.

Source: IEEE Transactions on Robotics. 41:4960-4974

Subject Terms: Model-Predictive Control, [SPI.AUTO] Engineering Sciences [physics]/Automatic, Optimization and Optimal Control, Motion and Path Planning, Reactive and Sensor-Based Planning

File Description: application/pdf

Access URL: https://laas.hal.science/hal-04330251v3

A Tutorial on Distributed Optimization for Cooperative Robotics: From Setups and Algorithms to Toolboxes and Research Directions

Authors: Testa, Andrea Carnevale, Guido Notarstefano, Giuseppe

Source: Proceedings of the IEEE. 113:40-65

Subject Terms: FOS: Computer and information sciences, Computer Science - Robotics, Optimization and Control (math.OC), FOS: Mathematics, Cooperating robots, distributed optimization, distributed robot systems, optimization and optimal control, Mathematics - Optimization and Control, Robotics (cs.RO)

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Access URL: http://arxiv.org/abs/2309.04257
https://hdl.handle.net/11585/1025488
https://ieeexplore.ieee.org/document/10969623
https://doi.org/10.1109/jproc.2025.3557698

ProxDDP: Proximal Constrained Trajectory Optimization

Authors: Wilson Jallet Antoine Bambade Etienne Arlaud et al.

Contributors: Wilson Jallet Antoine Bambade Etienne Arlaud et al.

Source: IEEE Transactions on Robotics. 41:2605-2624

Subject Terms: Model-Predictive Control, [INFO.INFO-RB] Computer Science [cs]/Robotics [cs.RO], Legged Robots, Optimization and Optimal Control

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Constrained Prioritized 3T2R Task Control for Robotic Agricultural Spraying

Authors: Kovačić, Zdenko Vatavuk, Ivo

Source: 2024 International Conference on Smart Systems and Technologies (SST). :287-292

Subject Terms: FOS: Computer and information sciences, Computer Science - Robotics, Agricultural Automation, Optimization and Optimal Control, Mobile Manipulation, Robotics (cs.RO)

Access URL: http://arxiv.org/abs/2307.00302

Collision-Free Trajectory Optimization in Cluttered Environments Using Sums-of-Squares Programming

Authors: Yulin Li Chunxin Zheng Kai Chen et al.

Source: IEEE Robotics and Automation Letters. 9:11026-11033

Subject Terms: Optimization, FOS: Computer and information sciences, 0209 industrial biotechnology, Collision avoidance, 0211 other engineering and technologies, Geometry, Shape, 02 engineering and technology, Optimization and optimal control, Polynomials, Computer Science - Robotics, Trajectory optimization, Programming, Constrained motion planning, Three-dimensional displays, Safety, Robots, Robotics (cs.RO)

Access URL: http://arxiv.org/abs/2404.05242

Transformer-Based Model Predictive Control: Trajectory Optimization via Sequence Modeling

Authors: Davide Celestini Daniele Gammelli Tommaso Guffanti et al.

Source: IEEE Robotics and Automation Letters. 9:9820-9827

Subject Terms: FOS: Computer and information sciences, Computer Science - Robotics, Optimization and optimal control, deep learning methods, machine learning for robot control, Artificial Intelligence (cs.AI), Computer Science - Artificial Intelligence, Optimization and Control (math.OC), FOS: Mathematics, Mathematics - Optimization and Control, Robotics (cs.RO)

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Access URL: http://arxiv.org/abs/2410.23916

A Minimum-Jerk Approach to Handle Singularities in Virtual Fixtures

Authors: Giovanni Braglia Sylvain Calinon Luigi Biagiotti

Source: IEEE Robotics and Automation Letters. 9:10256-10263

Subject Terms: FOS: Computer and information sciences, Computer Science - Robotics, Human-Robot Collaboration, Motion and Path Planning, Optimization and Optimal Control, Physical Human-Robot Interaction, Robotics (cs.RO)

File Description: application/pdf

Access URL: http://arxiv.org/abs/2405.03473

Learning-Based High-Precision Tracking Control: Development, Synthesis, and Verification on Spiral Scanning With a Flexure-Based Nanopositioner

Authors: Xiaocong Li Haiyue Zhu Jun Ma et al.

Source: IEEE/ASME Transactions on Mechatronics. 29:3867-3876

Subject Terms: Optimization, Model learning for control, Adaptive control, Nanopositioning, Optimization and optimal control, Learning-based control, Automation, Cost function, Data-driven optimization, Feedforward systems, Trajectory tracking, Precision motion control, Robots