Výsledky vyhledávání - "Optimization and Optimal Control"

Gait and Trajectory Optimization for Legged Systems Through Phase-Based End-Effector Parameterization Autor Winkler, Alexander W., Bellicoso, C. Dario, Hutter, Marco, Buchli, Jonas

“…We present a single trajectory optimization formulation for legged locomotion that automatically determines the gait sequence, step timings, footholds,…”
Získat plný text

TAMOLS: Terrain-Aware Motion Optimization for Legged Systems Autor Jenelten, Fabian, Grandia, Ruben, Farshidian, Farbod, Hutter, Marco

“…Terrain geometry is, in general, nonsmooth, nonlinear, nonconvex, and, if perceived through a robot-centric visual unit, appears partially occluded and noisy…”
Získat plný text

Trajectory Planning and Optimization for Robotic Machining Based On Measured Point Cloud Autor Wang, Gang, Li, Wenlong, Jiang, Cheng, Zhu, Dahu, Li, Zhongwei, Xu, Wei, Zhao, Huan, Ding, Han

“…Industrial robots are characterized by good flexibility and a large working space, and offer a new approach for the machining of large and complex parts with…”
Získat plný text

Dynamic pricing and fleet management for electric autonomous mobility on demand systems Autor Turan, Berkay, Pedarsani, Ramtin, Alizadeh, Mahnoosh

“…The proliferation of ride sharing systems is a major drive in the advancement of autonomous and electric vehicle technologies. This paper considers the joint…”
Získat plný text

Estimation, Control, and Planning for Aggressive Flight With a Small Quadrotor With a Single Camera and IMU Autor Loianno, Giuseppe, Brunner, Chris, McGrath, Gary, Kumar, Vijay

“…We address the state estimation, control, and planning for aggressive flight with a 150 cm diameter, 250 g quadrotor equipped only with a single camera and an…”
Získat plný text

Online Hybrid Motion Planning for Dyadic Collaborative Manipulation via Bilevel Optimization Autor Stouraitis, Theodoros, Chatzinikolaidis, Iordanis, Gienger, Michael, Vijayakumar, Sethu

“…Effective collaboration is based on online adaptation of one's own actions to the actions of their partner. This article provides a principled formalism to…”
Získat plný text

STANCE: Locomotion Adaptation Over Soft Terrain Autor Fahmi, Shamel, Focchi, Michele, Radulescu, Andreea, Fink, Geoff, Barasuol, Victor, Semini, Claudio

“…Whole-Body Control (WBC) has emerged as an important framework in locomotion control for legged robots. However, most WBC frameworks fail to generalize beyond…”
Získat plný text

Particle Swarm Optimization for Cooperative Multi-Robot Task Allocation: A Multi-Objective Approach Autor Wei, Changyun, Ji, Ze, Cai, Boliang

“…This letter presents a new Multi-Objective Particle Swarm Optimization (MOPSO) approach to a Cooperative MultiRobot Task Allocation (CMRTA) problem, where the…”
Získat plný text

A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation Autor Sleiman, Jean-Pierre, Farshidian, Farbod, Minniti, Maria Vittoria, Hutter, Marco

“…In this letter, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal…”
Získat plný text

Stochastic Dynamic Games in Belief Space Autor Schwarting, Wilko, Pierson, Alyssa, Karaman, Sertac, Rus, Daniela

“…Information gathering while interacting with other agents under sensing and motion uncertainty is critical in domains such as driving, service robots, racing,…”
Získat plný text

Whole-Body Nonlinear Model Predictive Control Through Contacts for Quadrupeds Autor 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. We use a full-dynamic system…”
Získat plný text

Generalizable and Fast Surrogates: Model Predictive Control of Articulated Soft Robots using Physics-Informed Neural Networks Autor Habich, Tim-Lukas, Mohammad, Aran, Ehlers, Simon F. G., Bensch, Martin, Seel, Thomas, Schappler, Moritz

“…Soft robots can revolutionize several applications with high demands on dexterity and safety. When operating these systems, real-time estimation and control…”
Získat plný text

ViTAL: Vision-Based Terrain-Aware Locomotion for Legged Robots Autor Fahmi, Shamel, Barasuol, Victor, Esteban, Domingo, Villarreal, Octavio, Semini, Claudio

“…This article focuses on vision-based planning strategies for legged robots that separate locomotion planning into foothold selection and pose adaptation…”
Získat plný text

Nonsmooth Trajectory Optimization for Wheeled Balancing Robots With Contact Switches and Impacts Autor Klemm, Victor, de Viragh, Yvain, Rohr, David, Siegwart, Roland, Tognon, Marco

“…Recent years have seen a steady rise in the abilities of wheeled-legged balancing robots. Yet, their use is still severely restricted by the lack of efficient…”
Získat plný text

An Abstraction-Free Method for Multirobot Temporal Logic Optimal Control Synthesis Autor Luo, Xusheng, Kantaros, Yiannis, Zavlanos, Michael M.

“…The majority of existing linear temporal logic (LTL) planning methods rely on the construction of a discrete product automaton, which combines a discrete…”
Získat plný text

Fast Path Planning Through Large Collections of Safe Boxes Autor Marcucci, Tobia, Nobel, Parth, Tedrake, Russ, Boyd, Stephen

“…We present a fast algorithm for the design of smooth paths (or trajectories) that are constrained to lie in a collection of axis-aligned boxes. We consider the…”
Získat plný text

SICNav: Safe and Interactive Crowd Navigation Using Model Predictive Control and Bilevel Optimization Autor Samavi, Sepehr, Han, James R., Shkurti, Florian, Schoellig, Angela P.

“…Robots need to predict and react to human motions to navigate through a crowd without collisions. Many existing methods decouple prediction from planning,…”
Získat plný text

Consensus Complementarity Control for Multicontact MPC Autor Aydinoglu, Alp, Wei, Adam, Huang, Wei-Cheng, Posa, Michael

“…We propose a hybrid model predictive control algorithm, consensus complementarity control, for systems that make and break contact with their environment. Many…”
Získat plný text

Bounds on Optimal Revisit Times in Persistent Monitoring Missions With a Distinct and Remote Service Station</strong Autor Hari, Sai Kanth, Rathinam, Sivakumar, Darbha, Swaroop, Manyam, Satyanarayana Gupta, Kalyanam, Krishna, Casbeer, David

“…We report persistent monitoring missions require an up-to-date knowledge of the changing state of the underlying environment. Unmannned aerial vehicles (UAVs)…”
Získat plný text

Safe and Fast Tracking on a Robot Manipulator: Robust MPC and Neural Network Control Autor Nubert, Julian, Kohler, Johannes, Berenz, Vincent, Allgower, Frank, Trimpe, Sebastian

“…Fast feedback control and safety guarantees are essential in modern robotics. We present an approach that achieves both by combining novel robust model…”
Získat plný text