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检索条件"主题词=Optimization and Optimal Control"
486 条 记 录,以下是91-100 订阅
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Inherently Robust Suboptimal MPC for Autonomous Racing With Anytime Feasible SQP
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IEEE ROBOTICS AND AUTOMATION LETTERS 2024年 第7期9卷 6616-6623页
作者: Numerow, Logan Zanelli, Andrea Carron, Andrea Zeilinger, Melanie N. ETH Inst Dynam Syst & Control CH-8092 Zurich Switzerland
In this paper, we propose an efficient inexact model predictive control (MPC) strategy for autonomous miniature racing with inherent robustness properties. We rely on a feasible sequential quadratic programming (SQP) ... 详细信息
来源: 评论
Uncertainty-Constrained Differential Dynamic Programming in Belief Space for Vision Based Robots
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IEEE ROBOTICS AND AUTOMATION LETTERS 2021年 第2期6卷 3112-3119页
作者: Rahman, Shatil Waslander, Steven L. Univ Toronto Inst Aerosp Studies Toronto ON M5S Canada Univ Toronto Robot Inst Toronto ON M5S Canada
Most mobile robots follow a modular sense-plan-act system architecture that can lead to poor performance or even catastrophic failure for visual inertial navigation systems due to trajectories devoid of feature matche... 详细信息
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Fast Path Planning Through Large Collections of Safe Boxes
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IEEE TRANSACTIONS ON ROBOTICS 2024年 40卷 3795-3811页
作者: Marcucci, Tobia Nobel, Parth Tedrake, Russ Boyd, Stephen MIT Dept Elect Engn & Comp Sci Cambridge MA 02139 USA Stanford Univ Dept Elect Engn Stanford CA 94305 USA
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 case where the number of these safe boxes is large, and b... 详细信息
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Hardware-in-the-Loop Iterative optimal Feedback control Without Model-Based Future Prediction
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IEEE TRANSACTIONS ON ROBOTICS 2019年 第6期35卷 1419-1434页
作者: Chen, Yuqing Braun, David J. Singapore Univ Technol & Design Engn Prod Dev Pillar Singapore 487372 Singapore Vanderbilt Univ Dept Mech Engn Nashville TN 37212 USA
optimal control provides a systematic approach to control robots. However, computing optimal controllers for hardware-in-the-loop control is sensitively affected by modeling assumptions, computationally expensive in o... 详细信息
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Position and Orientation Tunnel-Following NMPC of Robot Manipulators Based on Symbolic Linearization in Sequential Convex Quadratic Programming
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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年 第2期7卷 2867-2874页
作者: Astudillo, Alejandro Gillis, Joris Diehl, Moritz Decre, Wilm Pipeleers, Goele Swevers, Jan Katholieke Univ Leuven Dept Mech Engn MECO Res Team B-3001 Leuven Belgium Flanders Make DMMS Lab B-3001 Leuven Belgium Univ Freiburg Dept Microsyst Engn IMTEK D-79110 Baden Baden Germany Univ Freiburg Dept Math D-79110 Baden Baden Germany
The tunnel-following nonlinear model predictive control (NMPC) scheme allows to exploit acceptable deviations around a path reference. This is done by using convex-over-nonlinear functions as objective and constraints... 详细信息
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Simulation Aided Co-Design for Robust Robot optimization
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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年 第4期7卷 11306-11313页
作者: Fadini, Gabriele Flayols, Thomas Del Prete, Andrea Soueres, Philippe Univ Toulouse LAAS CNRS CNRS Toulouse France Univ Trento Ind Engn Dept I-38123 Trento Italy
This letter outlines a bi-level algorithm to concurrently optimize robot hardware and control parameters in order to minimize energy consumption during the execution of tasks and to ensure robust performance. The oute... 详细信息
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Whole-Body MPC for a Dynamically Stable Mobile Manipulator
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IEEE ROBOTICS AND AUTOMATION LETTERS 2019年 第4期4卷 3687-3694页
作者: Minniti, Maria Vittoria Farshidian, Farbod Grandia, Ruben Hutter, Marco Swiss Fed Inst Technol Robot Syst Lab CH-8092 Zurich Switzerland
Autonomous mobile manipulation offers a dual advantage of mobility provided by a mobile platform and dexterity afforded by themanipulator. In this letter, we present a whole-body optimal control framework to jointly s... 详细信息
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Thermal Recovery of Multi-Limbed Robots With Electric Actuators
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IEEE ROBOTICS AND AUTOMATION LETTERS 2019年 第2期4卷 1077-1084页
作者: Jorgensen, Steven Jens Holley, James Mathis, Frank Mehling, Joshua S. Sentis, Luis Univ Texas Austin Austin TX 78712 USA NASA Johnson Space Ctr Houston TX 77058 USA
The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. Afirst-order, data-driven, effort-based, thermal model of the robot'... 详细信息
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optimization-Based Maneuver Planning for a Tractor-Trailer Vehicle in a Curvy Tunnel: A Weak Reliance on Sampling and Search
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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年 第2期7卷 706-713页
作者: Li, Bai Li, Li Acarman, Tankut Shao, Zhijiang Yue, Ming Hunan Univ Coll Mech & Vehicle Engn Changsha 410082 Hunan Peoples R China Tsinghua Univ Dept Automat BNRist Beijing 100084 Peoples R China Galatasaray Univ Dept Comp Engn TR-34349 Istanbul Turkey Zhejiang Univ Coll Control Sci & Engn Hangzhou 310027 Peoples R China Dalian Univ Technol Sch Automot Engn Dalian 116622 Peoples R China
This study is focused on the maneuver planning problem for a tractor-trailer vehicle in a curvy and tiny tunnel. Due to the curse of dimensionality, the prevalent sampling-and- search-based planners used to handle a r... 详细信息
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optimal Cooperative Maneuver Planning for Multiple Nonholonomic Robots in a Tiny Environment via Adaptive-Scaling Constrained optimization
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IEEE ROBOTICS AND AUTOMATION LETTERS 2021年 第2期6卷 1511-1518页
作者: Li, Bai Ouyang, Yakun Zhang, Youmin Acarman, Tankut Kong, Qi Shao, Zhijiang Hunan Univ Coll Mech & Vehicle Engn Changsha 410082 Peoples R China Concordia Univ Dept Mech Ind & Aerosp Engn Montreal PQ H3G 1M8 Canada Galatasaray Univ Comp Engn Dept TR-34349 Istanbul Turkey JD Com Amer Technol Corp JDX R&D Ctr Mountain View CA 94043 USA Zhejiang Univ Coll Control Sci & Engn Hangzhou 310027 Peoples R China
This letter is focused on the time-optimal Multi-Vehicle Trajectory Planning (MVTP) problem for multiple car-like robots when they travel in a tiny indoor scenario occupied by static obstacles. Herein, the complexity ... 详细信息
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