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检索条件"机构=Department of Electrical and Computer Engineering and the Social Robotics Laboratory"
1110 条 记 录,以下是131-140 订阅
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Learning a Better Control Barrier Function
arXiv
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arXiv 2022年
作者: Dai, Bolun Krishnamurthy, Prashanth Khorrami, Farshad Control/Robotics Research Laboratory Electrical & Computer Engineering Department Tandon School of Engineering New York University BrooklynNY11201 United States
Control barrier functions (CBFs) are widely used in safety-critical controllers. However, constructing a valid CBF is challenging, especially under nonlinear or non-convex constraints and for high relative degree syst... 详细信息
来源: 评论
Direct Shooting Method for Numerical Optimal Control: A Modified Transcription Approach
arXiv
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arXiv 2024年
作者: Tang, Jiawei Zhong, Yuxing Wang, Pengyu Chen, Xingzhou Wu, Shuang Shi, Ling The Department of Electronic and Computer Engineering Hong Kong University of Science and Technology Clear Water Bay Hong Kong Shenzhen Key Laboratory of Robotics Perception and Intelligence The Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China The Noah’s Ark Lab Huawei Canada
Direct shooting is an efficient method to solve numerical optimal control. It utilizes the Runge-Kutta scheme to discretize a continuous-time optimal control problem making the problem solvable by nonlinear programmin... 详细信息
来源: 评论
A Multi-Layer Software Architecture for Aerial Cognitive Multi-Robot Systems in Power Line Inspection Tasks
A Multi-Layer Software Architecture for Aerial Cognitive Mul...
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2021 International Conference on Unmanned Aircraft Systems, ICUAS 2021
作者: Silano, Giuseppe Bednar, Jan Nascimento, Tiago Capitan, Jesus Saska, Martin Ollero, Anibal Czech Technical University Faculty of Electrical Engineering Prague Czech Republic Universidade Federal da Paraiba Department of Computer Systems Brazil Grvc Robotics Laboratory University of Seville Spain
This paper presents a multi-layer software architecture to perform cooperative missions with a fleet of quad-rotors providing support in electrical power line inspection operations. The proposed software framework gua... 详细信息
来源: 评论
SubPipe: A Submarine Pipeline Inspection Dataset for Segmentation and Visual-inertial Localization
SubPipe: A Submarine Pipeline Inspection Dataset for Segment...
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OCEANS
作者: Olaya Álvarez-Tuñón Luiza Ribeiro Marnet Martin Aubard László Antal Maria Costa Yury Brodskiy Department of Electrical and Computer Engineering Artificial Intelligence in Robotics Laboratory (AiR-Lab) Aarhus University Aarhus C Denmark EIVA a/s Skanderborg Denmark OceanScan Marine Systems & Technology Matosinhos Portugal RWTH Aachen University Aachen Germany
This paper presents SubPipe, an underwater dataset for SLAM, object detection, and image segmentation. SubPipe has been recorded using a lightweight autonomous underwater vehicle (LAUV), operated by OceanScan MST, and... 详细信息
来源: 评论
Study of Helicopter Optimal Autorotation Landing Procedure in Tail Rotor Drive Failure
Study of Helicopter Optimal Autorotation Landing Procedure i...
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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022
作者: Yan, Xufei Chen, Renliang Zhu, Shiqiang Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics College of Aeronautics Nanjing University of Aeronautics and Astronautics Jiangsu Nanjing China Department of Electrical and Computer Engineering Dalhousie University HalifaxNSB3H 4R2 Canada
This paper investigates the optimal landing trajectory and control procedure when a helicopter undergoes autorotation due to tail rotor drive failure (TRDF), in which an optimal control methodology is proposed. First,... 详细信息
来源: 评论
Optimal Landing of Tilt-rotor Aircraft after Engine Failure Considering Pilot Inherent Limitations
Optimal Landing of Tilt-rotor Aircraft after Engine Failure ...
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2022 IEEE International Conference on robotics and Biomimetics, ROBIO 2022
作者: Yan, Xufei Chen, Renliang Zhu, Shiqiang Xie, Anhuan Gu, Jason Research Center for Intelligent Robotics Zhejiang Lab Hangzhou311100 China Zhejiang Engineering Research Center for Intelligent Robotics Hangzhou311100 China College of Aeronautics Nanjing University of Aeronautics and Astronautics National Key Laboratory of Science and Technology on Rotorcraft Aeromechanics Jiangsu Nanjing China Dalhousie University Department of Electrical and Computer Engineering HalifaxNSB3H 4R2 Canada
An augmented longitudinal rigid-body model is developed with a set of algebra equations describing the controls in the cockpit and the differential equations describing the pilot inherent limitations. The landing proc... 详细信息
来源: 评论
GraspGPT: Leveraging Semantic Knowledge from a Large Language Model for Task-Oriented Grasping
arXiv
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arXiv 2023年
作者: Tang, Chao Huang, Dehao Ge, Wenqi Liu, Weiyu Zhang, Hong Shenzhen Key Laboratory of Robotics and Computer Vision Southern University of Science and Technology Shenzhen China Department of Electronic and Electrical Engineering Southern University of Science and Technology Shenzhen China Institute for Robotics and Intelligent Machines Georgia Institute of Technology Atlanta United States
Task-oriented grasping (TOG) refers to the problem of predicting grasps on an object that enable subsequent manipulation tasks. To model the complex relationships between objects, tasks, and grasps, existing methods i... 详细信息
来源: 评论
QuerySOD: A Small Object Detection Algorithm Based on Sparse Convolutional Network and Query Mechanism
QuerySOD: A Small Object Detection Algorithm Based on Sparse...
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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
作者: Zhengcai Cao Junnian Li Jie Niu MengChu Zhou State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA
Although remarkable advances have been achieved in generic object detection, small object detection (SOD) remains challenging owing to small objects’ information loss and noisy representation caused by their non-unif... 详细信息
来源: 评论
An End-to-End Human Simulator for Task-Oriented Multimodal Human-Robot Collaboration
arXiv
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arXiv 2023年
作者: Shervedani, Afagh Mehri Li, Siyu Monaikul, Natawut Abbasi, Bahareh Di Eugenio, Barbara Žefran, Miloš The Robotics Laboratory Department of Electrical and Computer Engineering University of Illinois Chicago ChicagoIL60607 United States The Natural Language Processing Laboratory Department of Computer Science University of Illinois Chicago ChicagoIL60607 United States The Computer Science Department California State University Channel Islands CamarilloCA93012 United States
This paper proposes a neural network-based user simulator that can provide a multimodal interactive environment for training Reinforcement Learning (RL) agents in collaborative tasks involving multiple modes of commun... 详细信息
来源: 评论
A Context-Enhanced Full-Resolution Floor Plan Segmentation Network for Topological Semantic Mapping
A Context-Enhanced Full-Resolution Floor Plan Segmentation N...
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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
作者: Zhengcai Cao Yiyang Sun Zhe Ma MengChu Zhou State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Department of Electrical and Computer Engineering New Jersey Institute of Technology Newark NJ USA
Topological semantic maps provide a practical solution to enhance indoor navigation for the Partially Sighted or Visually Impaired (PSVI). Segmenting indoor floor plans and extracting boundaries are key to constructin... 详细信息
来源: 评论