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检索条件"主题词=Formal methods in robotics and automation"
67 条 记 录,以下是1-10 订阅
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Maximum Allowable TCF Calibration Error for Robotic Pose Servoing
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IEEE robotics AND automation LETTERS 2025年 第2期10卷 1744-1751页
作者: Hou, Jun Xing, Shiyu Ma, Yunkai Jing, Fengshui Tan, Min Chinese Acad Sci Inst Automat State Key Lab Multimodal Artificial Intelligence S Beijing 100190 Peoples R China Univ Chinese Acad Sci Sch Artificial Intelligence Beijing 100049 Peoples R China Chinese Acad Sci Inst Automat Key Lab Cognit & Decis Intelligence Complex Syst Beijing 100190 Peoples R China
Robotic pose servoing aims to move the robot end-effector to the target pose. Closed-loop servo systems can tolerate a small TCF (tool control frame) calibration error and accurately reach the target pose through mult... 详细信息
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Online Resynthesis of High-Level Collaborative Tasks for Robots With Changing Capabilities
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IEEE robotics AND automation LETTERS 2025年 第2期10卷 2032-2039页
作者: Fang, Amy Yin, Tenny Kress-Gazit, Hadas Cornell Univ Sibley Sch Mech & Aerosp Engn Ithaca NY 14850 USA
Given a collaborative high-level task and a team of heterogeneous robots with behaviors to satisfy it, this work focuses on the challenge of automatically adjusting the individual robot behaviors at runtime such that ... 详细信息
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A Signal Temporal Logic approach for task-based coordination of multi-aerial systems: A wind turbine inspection case study
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robotics AND AUTONOMOUS SYSTEMS 2025年 186卷
作者: Silano, Giuseppe Caballero, Alvaro Liuzza, Davide Iannelli, Luigi Bogdan, Stjepan Saska, Martin Czech Tech Univ Fac Elect Engn Dept Cybernet Prague Czech Republic Ric Sistema Energet RSE SpA Dept Power Generat Technocal & Mat Milan Italy Univ Seville GRVC Robot Lab Seville Spain Univ Sannio Benevento Dept Engn Benevento Italy Italian Natl Agcy New Technol Energy & Sustainable Fus & Technol Nucl Safety & Secur Dept Frascati Italy Univ Zagreb Fac Elect Engn & Comp Zagreb Croatia
The paper addresses task assignment and trajectory generation for collaborative inspection missions using a fleet of multi-rotors, focusing on the wind turbine inspection scenario. The proposed solution enables safe a... 详细信息
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Task-Driven Detection of Distribution Shifts With Statistical Guarantees for Robot Learning
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IEEE TRANSACTIONS ON robotics 2025年 41卷 926-945页
作者: Farid, Alec Veer, Sushant Pachisia, Divyanshu Majumdar, Anirudha Princeton Univ Princeton NJ 08540 USA Zoox Foster CA 94404 USA NVIDIA Autonomous Vehicle Res Grp Santa Clara CA 95051 USA Skydio San Mateo CA 94402 USA Princeton Univ Intelligent Robot Mot Lab Princeton NJ USA
Our goal is to perform out-of-distribution (OOD) detection, i.e., to detect when a robot is operating in environments drawn from a different distribution than the ones used to train the robot. We leverage probably app... 详细信息
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Kinodynamic Motion Planning via Branch-and-Cut Over Probabilistic Roadmaps
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IEEE robotics AND automation LETTERS 2024年 第1期9卷 247-254页
作者: Ramirez, Miquel Selvaratnam, Daniel Manzie, Chris Univ Melbourne Dept Elect & Elect Engn Parkville Vic 3052 Australia KTH Royal Inst Technol Sch Elect Engn & Comp Sci Div Decis & Control Syst S-11428 Stockholm Sweden
This letter describes an extension of the classic Lazy Probabilistic Roadmaps algorithm (Lazy PRM), which results from pairing PRM and a novel Branch-and-Cut (BC) algorithm. Cuts are dynamically generated constraints ... 详细信息
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Determination of All Stable and Unstable Equilibria for Image-Point-Based Visual Servoing
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IEEE TRANSACTIONS ON robotics 2024年 40卷 3406-3424页
作者: Colotti, Alessandro Fontan, Jorge Garcia Goldsztejn, Alexandre Briot, Sebastien Chaumette, Francois Kermorgant, Olivier El Din, Mohab Safey Nantes Univ Ecole Cent Nantes CNRS F-44035 Nantes France Sorbonne Univ LIP6 F-75006 Paris France Univ Rennes Inria CNRS IRISA F-35000 Rennes France
Local minima are a well-known drawback of image-based visual servoing systems. Up to now, there were no formal guarantees on their number, or even their existence, according to the considered configuration. In this wo... 详细信息
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Safe POMDP Online Planning Among Dynamic Agents via Adaptive Conformal Prediction
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IEEE robotics AND automation LETTERS 2024年 第11期9卷 9946-9953页
作者: Sheng, Shili Yu, Pian Parker, David Kwiatkowska, Marta Feng, Lu Univ Virginia Sch Engn & Appl Sci Charlottesville VA 22904 USA Univ Oxford Dept Comp Sci Oxford OX1 2JD England
Online planning for partially observable Markov decision processes (POMDPs) provides efficient techniques for robot decision-making under uncertainty. However, existing methods fall short of preventing safety violatio... 详细信息
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Decomposition-Based Hierarchical Task Allocation and Planning for Multi-Robots Under Hierarchical Temporal Logic Specifications
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IEEE robotics AND automation LETTERS 2024年 第8期9卷 7182-7189页
作者: Luo, Xusheng Xu, Shaojun Liu, Ruixuan Liu, Changliu Carnegie Mellon Univ Robot Inst Pittsburgh PA 15213 USA Zhejiang Univ Coll Control Sci & Engn Hangzhou 310058 Peoples R China
Past research into robotic planning with temporal logic specifications, notably Linear Temporal Logic (LTL), was largely based on a single formula for individual or groups of robots. But with increasing task complexit... 详细信息
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Safe Networked robotics With Probabilistic Verification
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IEEE robotics AND automation LETTERS 2024年 第3期9卷 2917-2924页
作者: Narasimhan, Sai Shankar Bhat, Sharachchandra Chinchali, Sandeep P. Univ Texas Austin Dept Elect & Comp Engn Austin TX 78712 USA
Autonomous robots must utilize rich sensory data to make safe control decisions. To process this data, compute-constrained robots often require assistance from remote computation, or the cloud, that runs compute-inten... 详细信息
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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
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