Kinematics modelling of robotic systems is a fundamental requirement used by the underling control system. In this paper, we introduce a complete and analytic direct and inverse kinematic model for an 18 DoF quadruped...
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Any manufacturing process aims to become more efficient. There is a plenty ways to achieve this. One of those is industrial equipment technical state prediction. Some of the methods are considered. Also, inclusion of ...
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The theoretical foundations of the dynamic indentation method for assessing the mechanical characteristics of a material are presented. Computer simulations were performed using the Solid Mechanics, AC/DC, and Moving ...
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The paper proposes a new algorithm for compensating external disturbances for a class of multi-input multi-output (MIMO) linear systems. The solution of the problem is based on the use of the internal model principle ...
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The paper is devoted to the problem of Input-to-State Stability (ISS) analysis for descriptor (singular) homogeneous systems. In particular, sufficient conditions for descriptor homogeneous systems to be ISS are propo...
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This paper introduces a novel approach to improve robustness of visual-inertial odometry for ground mobile robots in dynamic environments. The proposed approach extends a standard Visual-Inertial Navigation System wit...
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This letter addresses optimal controller design for periodic linear time-varying systems under unknown-but-bounded disturbances. We introduce differential Lyapunov-type equations to describe time-varying inescapable e...
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Quality control of multilayer composite coatings of modern aircraft products is an urgent task. The purpose of this work is to substantiate the possibility of using the ultrasonic echo method for quality control of mu...
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With the increasing requirement for agile and efficient controllers in safety-critical scenarios, controllers that exhibit both agility and safety are attracting attention, especially in the aerial robotics domain. Th...
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With the increasing requirement for agile and efficient controllers in safety-critical scenarios, controllers that exhibit both agility and safety are attracting attention, especially in the aerial robotics domain. This paper focuses on the safety issue of Reinforcement Learning (RL)-based control for agile quadrotor flight in restricted environments. To this end, we propose a unified Adaptive Safety Predictive Corrector (ASPC) to certify each output action of the RL-based controller in real-time, ensuring its safety while maintaining agility. Specifically, we develop the ASPC as a finite-horizon optimal control problem, formulated by a variant of Model Predictive control (MPC). Given the safety constraints determined by the restricted environment, the objective of minimizing loss of agility can be optimized by reducing the difference between the actions of RL and ASPC. As the safety constraints are decoupled from the RL-based control policy, the ASPC is plug-and-play and can be incorporated into any potentially unsafe controllers. Furthermore, an online adaptive regulator is presented to adjust the safety bounds of the state constraints with respect to the environment changes, extending the proposed ASPC to different restricted environments. Finally, simulations and real-world experiments are demonstrated in various restricted environments to validate the effectiveness of the proposed ASPC. IEEE
In this article, a system for automatic recognition, including detection and classification, of emergency vehicles based on images from video recorders is proposed. The system utilizes YOLO v8 artificial neural networ...
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