Search Results - "Optimization and Optimal Control"

Optimization and Optimal Control Approach to Japanese Sangaku Six Equal Circles Problem by Enkhbat, Rentsen, Kamada, Masaru, Enkhtsolmon, Erdene-Oldokh, Fukagawa, Hidetoshi

“… This optimization problem is to maximize a quadratic convex function subject to nonconvex constraints…”
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TAMOLS: Terrain-Aware Motion Optimization for Legged Systems by Jenelten, Fabian, Grandia, Ruben, Farshidian, Farbod, Hutter, Marco

“… We formulate a trajectory optimization problem that jointly optimizes over the base pose and footholds, subject to a height map…”
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Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds by Neunert, Michael, Stauble, Markus, Giftthaler, Markus, Bellicoso, Carmine D., Carius, Jan, Gehring, Christian, Hutter, Marco, Buchli, Jonas

“…In this letter, we present a whole-body nonlinear model predictive control approach for rigid body systems subject to contacts…”
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Learning dynamical systems with bifurcations by Khadivar, Farshad, Lauzana, Ilaria, Billard, Aude

“… This switching can be brittle and subject to instabilities. We present an approach to embed cyclic and point to point dynamics in a single DS…”
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Sensitivity-Aware Model Predictive Control for Robots With Parametric Uncertainty by Belvedere, Tommaso, Cognetti, Marco, Oriolo, Giuseppe, Giordano, Paolo Robuffo

“…This article introduces a computationally efficient robust model predictive control (MPC) scheme for controlling nonlinear systems affected by parametric…”
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Data-driven predictive control of nonholonomic robots based on a bilinear Koopman realization: Data does not replace geometry by Rosenfelder, Mario, Bold, Lea, Eschmann, Hannes, Eberhard, Peter, Worthmann, Karl, Ebel, Henrik

“…Advances in machine learning and the growing trend towards effortless data generation in real-world systems have led to an increasing interest for…”
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Approximate Optimal Motion Planning to Avoid Unknown Moving Avoidance Regions by Deptula, Patryk, Chen, Hsi-Yuan, Licitra, Ryan A., Rosenfeld, Joel A., Dixon, Warren E.

“…In this article, an infinite-horizon optimal regulation problem is considered for a control-affine nonlinear autonomous agent subject to input constraints in the presence of dynamic avoidance regions…”
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Trajectory Optimization With Implicit Hard Contacts by Carius, Jan, Ranftl, Rene, Koltun, Vladlen, Hutter, Marco

“… The method is capable of finding optimal trajectories subject to whole-body dynamics with hard contacts…”
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Trajectory Optimization with Optimization-Based Dynamics by Howell, Taylor A., Le Cleac'h, Simon, Singh, Sumeet, Florence, Pete, Manchester, Zachary, Sindhwani, Vikas

“…We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and…”
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Planning of Heterogeneous Multi-Agent Systems Under Signal Temporal Logic Specifications With Integral Predicates by Buyukkocak, Ali Tevfik, Aksaray, Derya, Yazcoglu, Yasin

“… In order to generate optimal trajectories, we formulate a mixed-integer linear program whose objective is minimizing the agent movement subject to the heterogeneous abstracted dynamics of the agents…”
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Dynamic Optimization and Optimal Control of Hydrogen Blending Operations in Natural Gas Networks by Kazi, Saif R., Sundar, Kaarthik, Zlotnik, Anatoly

“…We present a dynamic model for the optimal control problem (OCP) of hydrogen blending into natural gas pipeline networks subject to inequality constraints…”
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Urban Driving Games With Lexicographic Preferences and Socially Efficient Nash Equilibria by Zanardi, Alessandro, Mion, Enrico, Bruschetta, Mattia, Bolognani, Saverio, Censi, Andrea, Frazzoli, Emilio

“… Subject to their physical dynamics, the preference of the agents is expressed via a lexicographic relation that puts as first priority the shared objective of not colliding…”
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Ultrasound-Guided Assistive Robots for Scoliosis Assessment With Optimization-Based Control and Variable Impedance by Duan, Anqing, Victorova, Maria, Zhao, Jingyuan, Sun, Yuxiang, Zheng, Yongping, Navarro-Alarcon, David

“…Assistive robots for healthcare have witnessed a growing demand over the past decades. In this paper, we investigate the development of an optimization-based…”
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Distributed Planning of Collaborative Locomotion: A Physics-Based and Data-Driven Approach by Fawcett, Randall T., Ames, Aaron D., Hamed, Kaveh Akbari

“…This work aims to provide a computationally effective and distributed trajectory planner at the intersection of physics-based and data-driven techniques for…”
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Robot Self-Calibration Using Multiple Kinematic Chains-A Simulation Study on the iCub Humanoid Robot by Stepanova, Karla, Pajdla, Tomas, Hoffmann, Matej

“… The parameters varied were as follows: first, type and number of intersecting kinematic chains used for calibration, second, parameters and chains subject to optimization…”
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Perception-Aware Human-Assisted Navigation of Mobile Robots on Persistent Trajectories by Cognetti, Marco, Aggravi, Marco, Pacchierotti, Claudio, Salaris, Paolo, Giordano, Paolo Robuffo

“…We propose a novel shared control and active perception framework combining the skills of a human operator in accomplishing complex tasks with the capabilities…”
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Fast and Accurate Relative Motion Tracking for Dual Industrial Robots by He, Honglu, Lu, Chen-Lung, Saunders, Glenn, Wason, John, Yang, Pinghai, Schoonover, Jeffrey, Ajdelsztajn, Leo, Paternain, Santiago, Julius, Agung, Wen, John T.

“…Industrial robotic applications such as spraying, welding, and additive manufacturing frequently require fast, accurate, and uniform motion along a 3D spatial…”
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Selective Assist Strategy by Using Lightweight Carbon Frame Exoskeleton Robot by Furukawa, Jun-ichiro, Okajima, Shotaro, An, Qi, Nakamura, Yuichi, Morimoto, Jun

“…Exoskeleton robots need to always actively assist the user's movements otherwise robot just becomes a heavy load for the user. However, estimating diversified…”
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Information-Aware Lyapunov-Based MPC in a Feedback-Feedforward Control Strategy for Autonomous Robots by Napolitano, Olga, Fontanelli, Daniele, Pallottino, Lucia, Salaris, Paolo

“…This letter proposes a feedback-feedforward control scheme that combines the benefits of an online active sensing control strategy (the feedforward control…”
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Motion Optimization and Parameter Identification for a Human and Lower Back Exoskeleton Model by Manns, Paul, Sreenivasa, Manish, Millard, Matthew, Mombaur, Katja

“…Designing an exoskeleton to reduce the risk of low-back injury during lifting is challenging. Computational models of the human-robot system coupled with…”
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