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检索条件"主题词=Optimization and Optimal Control"
486 条 记 录,以下是61-70 订阅
排序:
Trajectory optimization Using Learned Robot-Terrain Interaction Model in Exploration of Large Subterranean Environments
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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年 第2期7卷 3365-3371页
作者: Agishev, Ruslan Petricek, Tomas Zimmermann, Karel Czech Tech Univ Fac Elect Engn Dept Cybernet Prague 16636 Czech Republic
We consider the task of active exploration of large subterranean environments with a ground mobile robot. Our goal is to autonomously explore a large unknown area and to obtain an accurate coverage and localization of... 详细信息
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COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining optimal control, Movement Primitives and Learning and its Transfer to the Real Robot HRP-2
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IEEE ROBOTICS AND AUTOMATION LETTERS 2017年 第2期2卷 977-984页
作者: Clever, Debora Harant, Monika Motnbaur, Kaija Naveau, Maxitnilien Stasse, Olivier Endres, Doininik Heidelberg Univ Interdisciplinary Ctr Sci Comp Optimizat Robot & D-69117 Heidelberg Germany CNRS LAAS F-31077 Toulouse France Philipps Univ Marburg Theoret Neurosci Grp Dept Psychol D-35032 Marburg Germany
COCoMoPL is a recently developed approach combining optimal control, movement primitives and learning for the generation of humanoid walking motions (Clever et al. Robot. Auton. Syst., vol. 83, pp. 287.298, 2016). It ... 详细信息
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Scenario-Based Trajectory optimization in Uncertain Dynamic Environments
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IEEE ROBOTICS AND AUTOMATION LETTERS 2021年 第3期6卷 5389-5396页
作者: de Degroot, Oscar Brito, Bruno Ferranti, Laura Gavrila, Dariu Alonso-Mora, Javier Delft Univ Technol Dept Cognit Robot NL-2628 CD Delft Netherlands
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each po... 详细信息
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Integrating Features Acceleration in Visual Predictive control
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IEEE ROBOTICS AND AUTOMATION LETTERS 2020年 第4期5卷 5197-5204页
作者: Fusco, Franco Kermorgant, Olivier Martinet, Philippe Cent Nantes Lab Sci Numer Nantes LS2N F-44321 Nantes France Univ Cote Azur INRIA F-06902 Sophia Antipolis France
This letter proposes new prediction models for Visual Predictive control that can lead to both better motions in the feature space and shorter sensor trajectories in 3D. Contrarily to existing first-order models based... 详细信息
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Range, Endurance, and optimal Speed Estimates for Multicopters
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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年 第2期7卷 2953-2960页
作者: Bauersfeld, Leonard Scaramuzza, Davide Univ Zurich Dept Informat Robot & Percept Grp CH-8050 Zurich Switzerland
Multicopters are among the most versatile mobile robots. Their applications range from inspection and mapping tasks to providing vital reconnaissance in disaster zones and to package delivery. The range, endurance, an... 详细信息
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Complete Closed-Form and Accurate Solution to Pose Estimation From 3D Correspondences
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IEEE ROBOTICS AND AUTOMATION LETTERS 2023年 第3期8卷 1786-1793页
作者: Malis, Ezio Univ Cote dAzur ACENTAURI team Ctr Inria F-06902 Sophia Antipolis France
Computing the pose from 3D data acquired in two different frames is of high importance for several robotic tasks like odometry, SLAM and place recognition. The pose is generally obtained by solving a least-squares pro... 详细信息
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Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids
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IEEE ROBOTICS AND AUTOMATION LETTERS 2021年 第2期6卷 1582-1589页
作者: Smaldone, Filippo M. Scianca, Nicola Lanari, Leonardo Oriolo, Giuseppe Sapienza Univ Roma Dipartimento Ingn Informat Automat & Gest Via Ariosto 25 I-00185 Rome Italy
The feasibility region of a Model Predictive control (MPC) algorithm is the subset of the state space in which the constrained optimization problem to be solved is feasible. In our recent Intrinsically Stable MPC (IS-... 详细信息
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Temporal Logic Motion Planning With Convex optimization via Graphs of Convex Sets
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IEEE TRANSACTIONS ON ROBOTICS 2023年 第5期39卷 3791-3804页
作者: Kurtz, Vince Lin, Hai Univ Notre Dame Dept Elect Engn Notre Dame IN 46556 USA
Temporal logic is a concise way of specifying complex tasks. However, motion planning to achieve temporal logic specifications is difficult, and existing methods struggle to scale to complex specifications and high-di... 详细信息
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Singularity-Aware Design optimization for Multi-Degree-of-Freedom Spatial Linkages
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IEEE ROBOTICS AND AUTOMATION LETTERS 2021年 第4期6卷 6585-6592页
作者: Maloisel, Guirec Knoop, Espen Thomaszewski, Bernhard Bacher, Moritz Coros, Stelian Disney Res CH-8006 Zurich Switzerland Swiss Fed Inst Technol Dept Comp Sci CH-8006 Zurich Switzerland
We introduce a singularity-aware design optimization method for spatial multi-degree-of-freedom mechanical linkages. At the core of our approach is an adversarial sampling strategy, which actively detects singular con... 详细信息
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A Planning-and-control Framework for Aerial Manipulation of Articulated Objects
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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年 第4期7卷 10689-10696页
作者: Brunner, Maximilian Rizzi, Giuseppe Studiger, Matthias Siegwart, Roland Tognon, Marco Swiss Fed Inst Technol Autonomous Syst Lab CH-8092 Zurich Switzerland
While the variety of applications for Aerial Manipulators (AMs) has increased over the last years, they are mostly limited to push-and-slide tasks. More complex manipulations of dynamic environments are poorly address... 详细信息
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