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检索条件"主题词=Optimization and Optimal Control"
486 条 记 录,以下是71-80 订阅
排序:
Discovering Closed-Loop Failures of Vision-Based controllers via Reachability Analysis
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IEEE ROBOTICS AND AUTOMATION LETTERS 2023年 第5期8卷 2692-2699页
作者: Chakraborty, Kaustav Bansal, Somil Univ Southern Calif Dept Elect & Comp Engn Los Angeles CA 90089 USA
Machine learning driven image-based controllers allow robotic systems to take intelligent actions based on the visual feedback from their environment. Understanding when these controllers might lead to system safety v... 详细信息
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Perceptive Locomotion in Rough Terrain - Online Foothold optimization
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IEEE ROBOTICS AND AUTOMATION LETTERS 2020年 第4期5卷 5370-5376页
作者: Jenelten, Fabian Miki, Takahiro Vijayan, Aravind E. Bjelonic, Marko Hutter, Marco Swiss Fed Inst Technol Robot Syst Lab CH-8092 Zurich Switzerland ANYbotics AG CH-8050 Oerlikon Switzerland
Compared to wheeled vehicles, legged systems have a vast potential to traverse challenging terrain. To exploit the full potential, it is crucial to tightly integrate terrain perception for foothold planning. We presen... 详细信息
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Fifteen observations on the structure of energy-minimizing gaits in many simple biped models
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JOURNAL OF THE ROYAL SOCIETY INTERFACE 2011年 第54期8卷 74-98页
作者: Srinivasan, Manoj Ohio State Univ Columbus OH 43210 USA
A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion. Here, using numerical optimization and s... 详细信息
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Full-Pose Trajectory Tracking of Overactuated Multi-Rotor Aerial Vehicles With Limited Actuation Abilities
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IEEE ROBOTICS AND AUTOMATION LETTERS 2023年 第8期8卷 4951-4958页
作者: Hamandi, Mahmoud Al-Ali, Ismail Seneviratne, Lakmal Franchi, Antonio Zweiri, Yahya Khalifa Univ Dept Aerosp Engn Abu Dhabi 52799 U Arab Emirates Khalifa Univ Ctr Autonomous Robot Syst Abu Dhabi 52799 U Arab Emirates New York Univ Abu Dhabi Ctr Artificial Intelligence & Robot Abu Dhabi 129188 U Arab Emirates Khalifa Univ Dept Mech Engn Abu Dhabi 52799 U Arab Emirates Univ Twente Fac Elect Engn Math & Comp Sci Robot & Mechatron Lab NL-7500 AE Enschede Netherlands Sapienza Univ Rome Dept Comp Control & Management Engn I-00185 Rome Italy Univ Toulouse LAAS CNRS F-31000 Toulouse France Khalifa Univ Adv Res & Innovat Ctr Abu Dhabi 52799 U Arab Emirates
This letter presents a novel optimization-based full-pose trajectory tracking method to control overactuated multi-rotor aerial vehicles with limited actuation abilities. The proposed method allocates feasible control... 详细信息
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Sparse optimization of Contact Forces for Balancing control of Multi-Legged Humanoids
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IEEE ROBOTICS AND AUTOMATION LETTERS 2019年 第2期4卷 1117-1124页
作者: Polverini, Matteo Parigi Hoffman, Enrico Mingo Laurenzi, Arturo Tsagarakis, Nikos G. Ist Italiano Tecnol Adv Robot Dept I-16163 Genoa Italy Univ Genoa Dipartimento Informat Bioingn Robot & Ingn Sistem I-16126 Genoa Italy
Multi-legged humanoid platforms present an inherent redundancy in the number of end-effectors required to perform interaction tasks, such as balancing and manipulation. The most relevant possibility opened up by end-e... 详细信息
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A Simulation-Based Metaheuristic Approach to Integrated Scheduling of Seedling Production
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IEEE ROBOTICS AND AUTOMATION LETTERS 2022年 第2期7卷 1792-1799页
作者: Feng, Jingyuan Hu, Xiangpei Kong, Nan Dalian Univ Technol Sch Econ & Management Dalian 116024 Liaoning Peoples R China Purdue Univ Weldon Sch Biomed Engn W Lafayette IN 47906 USA
Seedling production is important to modern agriculture for its economic value in land utilization and yield promotion. Three crucial decisions for seedling production are new order acceptance, backlogged order fulfill... 详细信息
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Development and Experimental Evaluation of Concurrent control of a Robotic Arm and Continuum Manipulator for Osteolytic Lesion Treatment
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IEEE ROBOTICS AND AUTOMATION LETTERS 2017年 第3期2卷 1625-1631页
作者: Wilkening, Paul Alambeigi, Farshid Murphy, Ryan J. Taylor, Russell H. Armand, Mehran Johns Hopkins Univ Dept Comp Sci Baltimore MD 21218 USA Johns Hopkins Univ Dept Mech Engn Baltimore MD 21218 USA Johns Hopkins Univ Appl Phys Lab Dept Res & Exploratory Dev Johns Hopkins Rd Laurel MD 20723 USA
This letter presents the development and evaluation of concurrent control of a robotic system for less-invasive treatment of osteolytic lesions behind an acetabular implant. This system implements safety constraints i... 详细信息
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Planning of Heterogeneous Multi-Agent Systems Under Signal Temporal Logic Specifications With Integral Predicates
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IEEE ROBOTICS AND AUTOMATION LETTERS 2021年 第2期6卷 1375-1382页
作者: Buyukkocak, Ali Tevfik Aksaray, Derya Yazcoglu, Yasin Univ Minnesota Dept Aerosp Engn & Mech Minneapolis MN 55455 USA Univ Minnesota Dept Elect & Comp Engn Minneapolis MN 55455 USA
We address the problem of coordinating the trajectories of heterogeneous multi-agent systems under spatio-temporal specifications. In particular, we consider global Signal Temporal Logic (STL) constraints to express t... 详细信息
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Enhancement of Force Exertion Capability of a Mobile Manipulator by Kinematic Reconfiguration
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IEEE ROBOTICS AND AUTOMATION LETTERS 2020年 第4期5卷 5842-5849页
作者: Xing, Hongjun Torabi, Ali Ding, Liang Gao, Haibo Deng, Zongquan Tavakoli, Mahdi Harbin Inst Technol State Key Lab Robot & Syst Harbin 150001 Peoples R China Univ Alberta Dept Elect & Comp Engn Edmonton AB T6G 1H9 Canada
With the increasing applications of wheeled mobile manipulators (WMMs), new challenges have arisen in terms of executing high-force tasks while maintaining precise trajectory tracking. A WMM, which consists of a manip... 详细信息
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Isolating Trajectory Tracking From Motion control: A Model Predictive control and Robust control Framework for Unmanned Ground Vehicles
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IEEE ROBOTICS AND AUTOMATION LETTERS 2023年 第3期8卷 1699-1706页
作者: Song, Jiarui Tao, Gang Zang, Zheng Dong, Haotian Wang, Boyang Gong, Jianwei Beijing Inst Technol Intelligent Vehicle Res Ctr Sch Mech Engn Beijing 100081 Peoples R China
This letter studies the trajectory tracking and motion control problems of unmanned ground vehicles (UGVs). A model predictive control and robust control (MPC-RC) framework for UGVs is proposed to improve tracking acc... 详细信息
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