Zobrazeno 1 - 10
of 60
pro vyhledávání: '"Lefebvre, Tom"'
In recent years, there has been a notable evolution in various multidisciplinary design methodologies for dynamic systems. Among these approaches, a noteworthy concept is that of concurrent conceptual and control design or co-design. This approach in
Externí odkaz:
http://arxiv.org/abs/2409.09820
In this work, we establish an optimal control framework for airborne wind energy systems (AWESs) with flexible tethers. The AWES configuration, consisting of a six-degree-of-freedom aircraft, a flexible tether, and a winch, is formulated as an index-
Externí odkaz:
http://arxiv.org/abs/2407.14258
This article proposes two new algorithms tailored to discrete-time deterministic finite-horizon nonlinear optimal control problems or so-called trajectory optimization problems. Both algorithms are inspired by a novel theoretical paradigm known as pr
Externí odkaz:
http://arxiv.org/abs/2407.13316
This work discusses the use of model predictive control (MPC) for the manipulation of a pusher-slider system. In particular we leverage the differential flatness of the pusher-slider in combination with a B-splines transcription to address the comput
Externí odkaz:
http://arxiv.org/abs/2302.11860
In this work we show that the differential kinematics of slider-pusher systems are differentially flat assuming quasi-static behaviour and frictionless contact. Second we demonstrate that the state trajectories are invariant to time-differential tran
Externí odkaz:
http://arxiv.org/abs/2302.11246
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control of multi-a
Externí odkaz:
http://arxiv.org/abs/2302.11491
Autor:
Lefebvre, Tom
Probabilistic control design is founded on the principle that a rational agent attempts to match modelled with an arbitrary desired closed-loop system trajectory density. The framework was originally proposed as a tractable alternative to traditional
Externí odkaz:
http://arxiv.org/abs/2205.03279
Autor:
Lefebvre, Tom
In this work we formulate and treat an extension of the Imitation from Observations problem. Imitation from Observations is a generalisation of the well-known Imitation Learning problem where state-only demonstrations are considered. In our treatment
Externí odkaz:
http://arxiv.org/abs/2204.02350
Autor:
Lefebvre, Tom, Crevecoeur, Guillaume
Sample-based trajectory optimisers are a promising tool for the control of robotics with non-differentiable dynamics and cost functions. Contemporary approaches derive from a restricted subclass of stochastic optimal control where the optimal policy
Externí odkaz:
http://arxiv.org/abs/2110.02647
We propose a simple, practical and intuitive approach to improve the performance of a conventional controller in uncertain environments using deep reinforcement learning while maintaining safe operation. Our approach is motivated by the observation t
Externí odkaz:
http://arxiv.org/abs/2110.02566