Although constraint satisfaction approaches have achieved fruitful results,system states may lose their smoothness and there may be undesired chattering of control inputs due to switching ***,it remains a challenge wh...
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Although constraint satisfaction approaches have achieved fruitful results,system states may lose their smoothness and there may be undesired chattering of control inputs due to switching ***,it remains a challenge when there are additional constraints on control torques of robotic *** this article,we propose a novel high-order control barrier function(HoCBF)-based safety control method for robotic systems subject to input-output constraints,which can maintain the desired smoothness of system states and reduce undesired chattering vibration in the control *** our design,augmented dynamics are introduced into the HoCBF by constructing its output as the control input of the robotic system,so that the constraint satisfaction is facilitated by HoCBFs and the smoothness of system states is maintained by the augmented *** proposed scheme leads to the quadratic program(QP),which is more user-friendly in implementation since the constraint satisfaction control design is implemented as an add-on to an existing tracking control *** proposed closed-loop control system not only achieves the requirements of real-time capability,stability,safety and compliance,but also reduces undesired chattering of control ***,the effectiveness of the proposed control scheme is verified by simulations and experiments on robotic manipulators.
Multi-view stereo aims to recover the 3D model of a scene from a set of images. However, low-textured areas in the scene have always been a challenge in 3D reconstruction. In this work, we propose a segmentation-guide...
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Tracking the object 6-DoF pose is crucial for various downstream robot tasks and real-world applications. In this paper, we investigate the real-world robot task of aerial vision guidance for aerial robotics manipulat...
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Trajectory tracking is a basic problem in quadrotor control. To achieve a better control effect, MPC is introduced in the control of quadrotors. In this paper, we introduce the error-state dynamic model of a quadrotor...
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This paper investigates a dexterous manipulation method for multi-fingered hands based on the approximate policy optimization (PPO) algorithm. First, a prior knowledge base of dexterous manipulation demonstration data...
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In this study, we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults. First, an inverse hysteresis dynamics model is introduced, and ...
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In this study, we consider a single-link flexible manipulator in the presence of an unknown Bouc-Wen type of hysteresis and intermittent actuator faults. First, an inverse hysteresis dynamics model is introduced, and then the control input is divided into an expected input and an error compensator. Second,a novel adaptive neural network-based control scheme is proposed to cancel the unknown input hysteresis. Subsequently,by modifying the adaptive laws and local control laws, a fault-tolerant control strategy is applied to address uncertain intermittent actuator faults in a flexible manipulator system. Through the direct Lyapunov theory, the proposed scheme allows the state errors to asymptotically converge to a specified interval. Finally,the effectiveness of the proposed scheme is verified through numerical simulations and experiments.
This paper proposes a vision-based formation control method for multi-robot systems in the absence of inter-robot communication, employing a leader-follower scheme with a single Kinect camera as the sole sensor. By ut...
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In this paper, we propose LF-PGVIO, a visual-Inertial-Odometry (VIO) framework for large Field-of-View (FoV) cameras with a negative plane using points and geodesic segments. The purpose of our research is to unleash ...
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In this paper, we propose LF-PGVIO, a visual-Inertial-Odometry (VIO) framework for large Field-of-View (FoV) cameras with a negative plane using points and geodesic segments. The purpose of our research is to unleash the potential of point-line odometry with large-FoV omnidirectional cameras, even for cameras with negative-plane FoV. To achieve this, we propose an Omnidirectional Curve Segment Detection (OCSD) method combined with a camera model which is applicable to images with large distortions, such as panoramic annular images, fisheye images, and various panoramic images. The geodesic segment is sliced into multiple straight-line segments based on the radian and descriptors are extracted and recombined. Descriptor matching establishes the constraint relationship between 3D line segments in multiple frames. In our VIO system, line feature residual is also extended to support large-FoV cameras. Extensive evaluations on public datasets demonstrate the superior accuracy and robustness of LF-PGVIO compared to state-of-the-art methods. The source code will be made publicly available at https://***/flysoaryun/LF-PGVIO. IEEE
Dear editor,This letter presents an automatic data augmentation algorithm for medical image *** increase the scale and diversity of medical images,we propose a differentiable automatic data augmentation algorithm base...
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Dear editor,This letter presents an automatic data augmentation algorithm for medical image *** increase the scale and diversity of medical images,we propose a differentiable automatic data augmentation algorithm based on proximal update by finding an optimal augmentation ***,on the one hand,a dedicated search space is designed for the medical image segmentation *** the other hand,we introduce a proximal differentiable gradient descent strategy to update the data augmentation policy,which would increase the searching *** of the experiments indicate that the proposed algorithm significantly outperforms state-of-the-art methods,and search speed is 10 times faster than state-of-the-art methods.
This paper deals with the problem of combining task and motion planning for a manipulator system. We propose a linear temporal logic (LTL) approach which follows the traditional hierarchical planning process, includin...
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