Zobrazeno 1 - 10
of 124
pro vyhledávání: '"Flaßkamp, Kathrin"'
Trajectory optimization is an essential tool for generating efficient and dynamically consistent gaits in legged locomotion. This paper explores the indirect method of trajectory optimization, emphasizing its application in creating optimal periodic
Externí odkaz:
http://arxiv.org/abs/2410.09512
Motivated by mechanical systems with symmetries, we focus on optimal control problems possessing symmetries. Following recent works, which generalized the classical concept of static turnpike to manifold turnpike, we extend the exponential turnpike p
Externí odkaz:
http://arxiv.org/abs/2406.14286
Continuum robots have emerged as a promising technology in the medical field due to their potential of accessing deep sited locations of the human body with low surgical trauma. When deriving physics-based models for these robots, evaluating the mode
Externí odkaz:
http://arxiv.org/abs/2405.15336
Trajectory planning for autonomous cars can be addressed by primitive-based methods, which encode nonlinear dynamical system behavior into automata. In this paper, we focus on optimal trajectory planning. Since, typically, multiple criteria have to b
Externí odkaz:
http://arxiv.org/abs/2401.14276
Homotopy methods are attractive due to their capability of solving difficult optimisation and optimal control problems. The underlying idea is to construct a homotopy, which may be considered as a continuous (zero) curve between the difficult origina
Externí odkaz:
http://arxiv.org/abs/2306.07852
Publikováno v:
Chaos 33, 063115 (2023)
Recently, Hamiltonian neural networks (HNN) have been introduced to incorporate prior physical knowledge when learning the dynamical equations of Hamiltonian systems. Hereby, the symplectic system structure is preserved despite the data-driven modeli
Externí odkaz:
http://arxiv.org/abs/2301.07928
Autor:
Hoffmann, Matthias K., Heib, Lennart, Rizzello, Gianluca, Moretti, Giacomo, Flaßkamp, Kathrin
This contribution deals with multi-objective model-predictive control (MPC) of a wave energy converter (WEC) device concept, which can harvest energy from sea waves using a dielectric elastomer generator (DEG) power take-off system. We aim to maximis
Externí odkaz:
http://arxiv.org/abs/2212.03511
We present a toolchain for solving path planning problems for concentric tube robots through obstacle fields. First, ellipsoidal sets representing the target area and obstacles are constructed from labelled point clouds. Then, the nonlinear and highl
Externí odkaz:
http://arxiv.org/abs/2211.15206
Classical turnpikes correspond to optimal steady states which are attractors of optimal control problems. In this paper, motivated by mechanical systems with symmetries, we generalize this concept to manifold turnpikes. Specifically, the necessary op
Externí odkaz:
http://arxiv.org/abs/2104.03039
Turnpikes have recently gained significant research interest in optimal control, since they allow for pivotal insights into the structure of solutions to optimal control problems. So far, mainly steady state solutions which serve as optimal operation
Externí odkaz:
http://arxiv.org/abs/2002.04388