Zobrazeno 1 - 10
of 451
pro vyhledávání: '"Arrizabalaga, Jon"'
This paper presents PHODCOS, an algorithm that assigns a moving coordinate system to a given curve. The parametric functions underlying the coordinate system, i.e., the path function, the moving frame and its angular velocity, are exact -- approximat
Externí odkaz:
http://arxiv.org/abs/2410.07750
Autor:
Arrizabalaga, Jon, Ryll, Markus
This work presents a unified framework for path-parametric planning and control. This formulation is universal as it standardizes the entire spectrum of path-parametric techniques -- from traditional path following to more recent contouring or progre
Externí odkaz:
http://arxiv.org/abs/2410.04664
This paper presents a method to compute differentiable collision-free parametric corridors. In contrast to existing solutions that decompose the obstacle-free space into multiple convex sets, the continuous corridors computed by our method are smooth
Externí odkaz:
http://arxiv.org/abs/2407.12283
This work focuses on the agile transportation of liquids with robotic manipulators. In contrast to existing methods that are either computationally heavy, system/container specific or dependant on a singularity-prone pendulum model, we present a real
Externí odkaz:
http://arxiv.org/abs/2402.05197
While real-world problems are often challenging to analyze analytically, deep learning excels in modeling complex processes from data. Existing optimization frameworks like CasADi facilitate seamless usage of solvers but face challenges when integrat
Externí odkaz:
http://arxiv.org/abs/2312.05873
Autor:
Arrizabalaga, Jon, Ryll, Markus
This work focuses on pose-following, a variant of path-following in which the goal is to steer the system's position and attitude along a path with a moving frame attached to it. Full body motion control, while accounting for the additional freedom t
Externí odkaz:
http://arxiv.org/abs/2308.09507
Autor:
Arrizabalaga, Jon, Ryll, Markus
This paper focuses on spatial time-optimal motion planning, a generalization of the exact time-optimal path following problem that allows the system to plan within a predefined space. In contrast to state-of-the-art methods, we drop the assumption th
Externí odkaz:
http://arxiv.org/abs/2210.02345
Autor:
Arrizabalaga, Jon, Ryll, Markus
This paper presents a two-stage prediction-based control scheme for embedding the environment's geometric properties into a collision-free Pythagorean Hodograph spline, and subsequently finding the optimal path within the parameterized free space. Th
Externí odkaz:
http://arxiv.org/abs/2209.01673
Autor:
Salzmann, Tim, Kaufmann, Elia, Arrizabalaga, Jon, Pavone, Marco, Scaramuzza, Davide, Ryll, Markus
Publikováno v:
IEEE Robotics and Automation Letters (Volume: 8, Issue: 4, April 2023)
Model Predictive Control (MPC) has become a popular framework in embedded control for high-performance autonomous systems. However, to achieve good control performance using MPC, an accurate dynamics model is key. To maintain real-time operation, the
Externí odkaz:
http://arxiv.org/abs/2203.07747
Publikováno v:
In Journal of Membrane Science January 2025 713
