Výsledky vyhledávání - "Ebel, Henrik"

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Data-Driven Predictive Control of Nonholonomic Robots Based on a Bilinear Koopman Realization: Data Does Not Replace Geometry

Autor: Rosenfelder, Mario, Bold, Lea, Eschmann, Hannes, Eberhard, Peter, Worthmann, Karl, Ebel, Henrik

Advances in machine learning and the growing trend towards effortless data generation in real-world systems has led to an increasing interest for data-inferred models and data-based control in robotics. It seems appealing to govern robots solely base

Externí odkaz: http://arxiv.org/abs/2411.07192

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Data Publishing in Mechanics and Dynamics: Challenges, Guidelines, and Examples from Engineering Design

Autor: Ebel, Henrik, van Delden, Jan, Lüddecke, Timo, Borse, Aditya, Gulakala, Rutwik, Stoffel, Marcus, Yadav, Manish, Stender, Merten, Schindler, Leon, de Payrebrune, Kristin Miriam, Raff, Maximilian, Remy, C. David, Röder, Benedict, Eberhard, Peter

Data-based methods have gained increasing importance in engineering, especially but not only driven by successes with deep artificial neural networks. Success stories are prevalent, e.g., in areas such as data-driven modeling, control and automation,

Externí odkaz: http://arxiv.org/abs/2410.18358

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On Koopman-based surrogate models for non-holonomic robots

Autor: Bold, Lea, Eschmann, Hannes, Rosenfelder, Mario, Ebel, Henrik, Worthmann, Karl

Data-driven surrogate models of dynamical systems based on the extended dynamic mode decomposition are nowadays well-established and widespread in applications. Further, for non-holonomic systems exhibiting a multiplicative coupling between states an

Externí odkaz: http://arxiv.org/abs/2303.09144

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Cooperative Distributed MPC via Decentralized Real-Time Optimization: Implementation Results for Robot Formations

Autor: Stomberg, Gösta, Ebel, Henrik, Faulwasser, Timm, Eberhard, Peter

Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation results for r

Externí odkaz: http://arxiv.org/abs/2301.07960

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Time-Optimal Handover Trajectory Planning for Aerial Manipulators based on Discrete Mechanics and Complementarity Constraints

Autor: Luo, Wei, Chen, Jingshan, Ebel, Henrik, Eberhard, Peter

Planning a time-optimal trajectory for aerial robots is critical in many drone applications, such as rescue missions and package delivery, which have been widely researched in recent years. However, it still involves several challenges, particularly

Externí odkaz: http://arxiv.org/abs/2209.00533

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Model Predictive Control of Non-Holonomic Vehicles: Beyond Differential-Drive

Autor: Rosenfelder, Mario, Ebel, Henrik, Krauspenhaar, Jasmin, Eberhard, Peter

Non-holonomic vehicles are of immense practical value and increasingly subject to automation. However, controlling them accurately, e.g., when parking, is known to be challenging for automatic control methods, including model predictive control (MPC)

Externí odkaz: http://arxiv.org/abs/2205.11400

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