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检索条件"主题词=Formal Methods in Robotics and Automation"
67 条 记 录,以下是11-20 订阅
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Rigid Body Path Planning Using Mixed-Integer Linear Programming
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IEEE robotics AND automation LETTERS 2024年 第11期9卷 10026-10033页
作者: Yu, Mingxin Fan, Chuchu MIT Dept Aeronaut & Astronaut Cambridge MA 02139 USA
Navigating rigid body objects through crowded environments can be challenging, especially when narrow passages are presented. Existing sampling-based planners and optimization-based methods like mixed integer linear p... 详细信息
来源: 评论
Learning-Based Bayesian Inference for Testing of Autonomous Systems
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IEEE robotics AND automation LETTERS 2024年 第10期9卷 9063-9070页
作者: Parashar, Anjali Yin, Ji Dawson, Charles Tsiotras, Panagiotis Fan, Chuchu MIT Lab Informat & Decis Syst LIDS Cambridge MA 02139 USA Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA
For the safe operation of robotic systems, it is important to accurately understand its failure modes using prior testing. Hardware testing of robotic infrastructure is known to be slow and costly. Instead, failure pr... 详细信息
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Online Modifications for Event-Based Signal Temporal Logic Specifications
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IEEE robotics AND automation LETTERS 2024年 第8期9卷 6864-6871页
作者: Gundanaand, David Kress-Gazit, Hadas Cornell Univ Sibley Sch Mech & Aerosp Engn Ithaca NY 14853 USA
In this letter we present a grammar and control synthesis framework for online modification of Event-based Signal Temporal Logic (STL) specifications, during execution. These modifications allow a user to change the r... 详细信息
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Joint Stress Estimation and Remaining Useful Life Prediction for Collaborative Robots to Support Predictive Maintenance
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IEEE robotics AND automation LETTERS 2024年 第4期9卷 3554-3561页
作者: Kolvig-Raun, Emil Stubbe Kjaergaard, Mikkel Baun Brorsen, Ralph Univ Southern Denmark SDU Software Engn Odense DK-5000 Denmark Universal Robots DK-5260 Odense Denmark
Anticipating the maintenance needs of lightweight robotic manipulators at precise future instances represents a significant challenge within the automation domain. This letter introduces an innovative and comprehensiv... 详细信息
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Certified polyhedral decompositions of collision-free configuration space
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INTERNATIONAL JOURNAL OF robotics RESEARCH 2024年 第9期43卷 1322-1341页
作者: Dai, Hongkai Amice, Alexandre Werner, Peter Zhang, Annan Tedrake, Russ Toyota Res Inst Los Altos CA USA Massachusetts Inst Technol MIT Cambridge MA USA Toyota Res Inst 4440 El Camino Real Los Altos CA 94022 USA
Understanding the geometry of collision-free configuration space (C-free) in the presence of Cartesian-space obstacles is an essential ingredient for collision-free motion planning. While it is possible to check for c... 详细信息
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Sampling-Based Reactive Synthesis for Nondeterministic Hybrid Systems
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IEEE robotics AND automation LETTERS 2024年 第2期9卷 931-938页
作者: Ho, Qi Heng Sunberg, Zachary N. Lahijanian, Morteza Univ Colorado Dept Aerosp Engn Sci Boulder CO 80309 USA
This letter introduces a sampling-based strategy synthesis algorithm for nondeterministic hybrid systems with complex continuous dynamics under temporal and reachability constraints. We model the evolution of the hybr... 详细信息
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Reachability Verification Based Reliability Assessment for Deep Reinforcement Learning Controlled robotics and Autonomous Systems
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IEEE robotics AND automation LETTERS 2024年 第4期9卷 3299-3306页
作者: Dong, Yi Zhao, Xingyu Wang, Sen Huang, Xiaowei Univ Liverpool Dept Comp Sci Liverpool L69 3BX Lancs England Univ Warwick WMG Coventry CV4 7AL Warwick England Imperial Coll London Dept Elect & Elect Engn London SW7 2AZ England
Deep Reinforcement Learning (DRL) has achieved impressive performance in robotics and autonomous systems (RAS). A key challenge to its deployment in real-life operations is the presence of spuriously unsafe DRL polici... 详细信息
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Resilient Online Planning for Mobile Robots With Minimal Relaxation of Signal Temporal Logic Specifications
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IEEE robotics AND automation LETTERS 2025年 第6期10卷 5935-5942页
作者: Buyukkocak, Ali Tevfik Aksaray, Derya Northeastern Univ Dept Elect & Comp Engn Boston MA 02115 USA
We address the problem of resilient motion planning for robots operating under Signal Temporal Logic (STL) specifications in dynamic environments. In such settings, unforeseen events-such as the emergence of dynamic o... 详细信息
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Parameter Identifying Disturbance Rejection Control With Asymptotic Error Convergence
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IEEE robotics AND automation LETTERS 2024年 第2期9卷 1035-1042页
作者: Patelski, Radoslaw Pazderski, Dariusz Poznan Univ Tech Inst Automat Control & Robot PL-60965 Poznan Poland
In this letter, a new kind of adaptive controller for the problem of output feedback tracking is proposed on the basis of the Active Disturbance Rejection Control (ADRC) paradigm. The controller is synthesized for the... 详细信息
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Collision Tests in Human-Robot Collaboration: Experiments on the Influence of Additional Impact Parameters on Safety
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IEEE ACCESS 2023年 11卷 118395-118413页
作者: Fischer, Clara Neuhold, Michael Steiner, Martin Haspl, Thomas Rathmair, Michael Schlund, Sebastian TU Wien Inst Management Sci A-1040 Vienna Austria TUV Austria Serv GmbH A-1230 Vienna Austria Joanneum Res Robot A-9020 Klagenfurt Austria
Human-robot collaborations are among the most promising but challenging applications for human-centered production, as both agents involved share a mutual workspace without physical barriers. Safety aspects require li... 详细信息
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