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检索条件"主题词=Optimization and Optimal Control"
486 条 记 录,以下是21-30 订阅
排序:
How-to Augmented Lagrangian on Factor Graphs
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IEEE ROBOTICS AND AUTOMATION LETTERS 2024年 第3期9卷 2806-2813页
作者: Bazzana, Barbara Andreasson, Henrik Grisetti, Giorgio Sapienza Univ Rome Dept Comp Control & Management Engn Antonio Rubert I-00185 Rome Italy Orebro Univ Ctr Appl Autonomous Sensor Syst AASS S-70182 Orebro Sweden
Factor graphs are a very powerful graphical representation, used to model many problems in robotics. They are widely spread in the areas of Simultaneous Localization and Mapping (SLAM), computer vision, and localizati... 详细信息
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Multi-Finger Manipulation via Trajectory optimization With Differentiable Rolling and Geometric Constraints
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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年 第5期10卷 5170-5177页
作者: Yang, Fan Power, Thomas Marinovic, Sergio Aguilera Iba, Soshi Zarrin, Rana Soltani Berenson, Dmitry Univ Michigan Robot Dept Ann Arbor MI 48109 USA Honda Res Inst USA San Jose CA 95134 USA
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often... 详细信息
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Topology-Driven Parallel Trajectory optimization in Dynamic Environments
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IEEE TRANSACTIONS ON ROBOTICS 2025年 41卷 110-126页
作者: de Groot, Oscar Ferranti, Laura Gavrila, Dariu M. Alonso-Mora, Javier Delft Univ Technol Dept Cognit Robot NL-2628 CD Delft Netherlands
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real ... 详细信息
来源: 评论
Experimental Validation of Sensitivity-Aware Trajectory Planning for a Redundant Robotic Manipulator Under Payload Uncertainty
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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年 第2期10卷 1561-1568页
作者: Srour, Ali Franchi, Antonio Giordano, Paolo Robuffo Cognetti, Marco Univ Rennes CNRS INRIA IRISA Campus Beaulieu F-35042 Rennes France Univ Twente Robot & Mechatron Dept Elect Engn Math & Comp Sci EEMCS Fac NL-7500 AE Enschede Netherlands Sapienza Univ Rome Dept Comp Control & Management Engn I-00185 Rome Italy Univ Toulouse LAAS CNRS UPS F-31031 Toulouse France
In this letter, we experimentally validate the recent concepts of closed-loop state and input sensitivity in the context of robust manipulation control for a robot manipulator. Our objective is to assess how optimizin... 详细信息
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Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive control
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IEEE TRANSACTIONS ON ROBOTICS 2024年 40卷 1273-1291页
作者: Saviolo, Alessandro Frey, Jonathan Rathod, Abhishek Diehl, Moritz Loianno, Giuseppe NYU Tandon Sch Engn New York NY 11201 USA Univ Freiburg D-79110 Freiburg Germany
Model-based control requires an accurate model of the system dynamics for precisely and safely controlling the robot in complex and dynamic environments. Moreover, in presence of variations in the operating conditions... 详细信息
来源: 评论
Continuous-Time Line-of-Sight Constrained Trajectory Planning for 6-Degree of Freedom Systems
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IEEE ROBOTICS AND AUTOMATION LETTERS 2025年 第5期10卷 4332-4339页
作者: Hayner, Christopher R. Carson Iii, John M. Acikmese, Behcet Leung, Karen Univ Washington Dept Aeronaut & Astronaut Seattle WA 98195 USA NASA Johnson Space Ctr Houston TX 77058 USA
Perception algorithms are ubiquitous in modern autonomy stacks, providing necessary environmental information to operate in the real world. Many of these algorithms depend on the visibility of keypoints, which must re... 详细信息
来源: 评论
Robust Pivoting Manipulation Using Contact Implicit Bilevel optimization
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IEEE TRANSACTIONS ON ROBOTICS 2024年 40卷 3425-3444页
作者: Shirai, Yuki Jha, Devesh K. Raghunathan, Arvind U. Mitsubishi Elect Res Labs MERL Cambridge MA 02139 USA
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional inter... 详细信息
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Learning a Tracking controller for Rolling μbot
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IEEE ROBOTICS AND AUTOMATION LETTERS 2024年 第2期9卷 1819-1826页
作者: Beaver, Logan E. Sokolich, Max Alsalehi, Suhail Weiss, Ron Das, Sambeeta Belta, Calin Boston Univ Div Syst Engn Boston MA 02446 USA Univ Delaware Dept Mech Engn Newark DE 29716 USA MIT Dept Biol Engn Cambridge MA 02142 USA
Micron-scale robots (mu bots) have recently shown great promise for emerging medical applications. Accurate control of mu bots, while critical to their successful deployment, is challenging. In this work, we consider ... 详细信息
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Online Multicontact Receding Horizon Planning via Value Function Approximation
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IEEE TRANSACTIONS ON ROBOTICS 2024年 40卷 2791-2810页
作者: Wang, Jiayi Kim, Sanghyun Lembono, Teguh Santoso Du, Wenqian Shim, Jaehyun Samadi, Saeid Wang, Ke Ivan, Vladimir Calinon, Sylvain Vijayakumar, Sethu Tonneau, Steve Univ Edinburgh Sch Informat Edinburgh EH8 9YL Scotland Alan Turing Inst Artificial Intelligence Programme London NW1 2DB England Kyung Hee Univ Dept Mech Engn Suwon 17104 South Korea Idiap Res Inst CH-1920 Martigny Switzerland Ecole Polytech Fed Lausanne CH-1015 Lausanne Switzerland Dyson Ltd Malmesbury SN16 0RP England Touchlab Ltd Edinburgh EH9 3HJ Scotland
Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value fun... 详细信息
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A semi-Lagrangian approach for time and energy path planning optimization in static flow fields
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JOURNAL OF THE FRANKLIN INSTITUTE 2025年 第7期362卷
作者: Campos, Victor C. da S. Neto, Armando A. Macharet, Douglas G. Univ Fed Minas Gerais Dept Elect Engn Av Antonio Carlos 6627 BR-31270901 Belo Horizonte MG Brazil Univ Fed Minas Gerais Comp Vis & Robot Lab VeRLab Dept Comp Sci Av Antonio Carlos 6627 BR-31270901 Belo Horizonte MG Brazil
Efficient path planning for autonomous mobile robots is a critical problem across numerous domains, where optimizing both time and energy consumption is paramount. This paper introduces a novel methodology that consid... 详细信息
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