Zobrazeno 1 - 10
of 27
pro vyhledávání: '"Massimo Cefalo"'
Autor:
Leonardo Lanari, Massimo Cefalo, Giulio Turrisi, Giuseppe Oriolo, Valerio Modugno, B. Barros Carlos
Publikováno v:
IFAC-PapersOnLine. 53:9502-9507
In recent years Reinforcement Learning (RL) has achieved remarkable results. Nonetheless RL algorithms prove to be unsuccessful in robotics applications where constraints satisfaction is involved, e.g. for safety. In this work we propose a control al
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::4972e0af183fb57642111c13d8776f54
https://doi.org/10.1016/j.ifacol.2020.12.2426
https://doi.org/10.1016/j.ifacol.2020.12.2426
Publikováno v:
Fractals in Engineering: Theoretical Aspects and Numerical Approximations ISBN: 9783030618025
We study a Stokes flow in a cylindrical-type fractal domain with homogeneous Dirichlet boundary conditions. We consider its numerical approximation by mixed methods: finite elements in space and finite differences in time. We introduce a suitably ref
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b629a5bb158915216d076c000e8037e8
https://doi.org/10.1007/978-3-030-61803-2_2
https://doi.org/10.1007/978-3-030-61803-2_2
Consider the problem of planning collision-free motions for a robot that is assigned a soft task constraint, i.e., a desired path in task space with an associated error tolerance. To this end, we propose an opportunistic planning strategy in which tw
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3035ab22e123c6ae3f61a3b6f540141e
http://hdl.handle.net/11573/1446246
http://hdl.handle.net/11573/1446246
Autor:
Massimo Cefalo, Giuseppe Oriolo
Publikováno v:
Robotica. 37:575-598
SUMMARYConsider the practically relevant situation in which a robotic system is assigned a task to be executed in an environment that contains moving obstacles. Generating collision-free motions that allow the robot to execute the task while complyin
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::e7294d929663a9ccf0998d810024b6ca
https://doi.org/10.1017/s0263574718001182
https://doi.org/10.1017/s0263574718001182
Publikováno v:
SyRoCo
A redundant robotic system must execute a task in a workspace populated by obstacles whose motion is unknown in advance. For this problem setting, we present a sensor-based planner that uses Model Predictive Control (MPC) to generate motion commands
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::523c1a980526e57e54b52df606a041f8
https://doi.org/10.1016/j.ifacol.2018.11.545
https://doi.org/10.1016/j.ifacol.2018.11.545
Publikováno v:
IEEE Transactions on Robotics. 33:1170-1183
We consider the problem of repeatable motion planning for redundant robotic systems performing cyclic tasks in the presence of obstacles. For this open problem, we present a control-based randomized planner, which produces closed collision-free paths
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::495bc50c91699cacc6594d7a977bd520
https://doi.org/10.1109/tro.2017.2715348
https://doi.org/10.1109/tro.2017.2715348
Nonlocal Venttsel' diffusion in fractal‐type domains: Regularity results and numerical approximation
We study a nonlocal Venttsel' problem in a non-convex bounded domain with a Koch-type boundary. Regularity results of the strict solution are proved in weighted Sobolev spaces. The numerical approximation of the problem is carried out and optimal a p
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::8d8deef7c189b8f327af3b61d592d1cb
http://hdl.handle.net/11573/1280245
http://hdl.handle.net/11573/1280245
Publikováno v:
ICRA
In this paper we present a real-time collision check algorithm based on the parallel computation capabilities of recent graphics card's GPUs. We show an effective application of the proposed algorithm to solve the task-constrained real-time motion pl
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::dcebed63c8224dd292fa84f56598e167
https://doi.org/10.1109/icra.2017.7989225
https://doi.org/10.1109/icra.2017.7989225
Autor:
Maria Rosaria Lancia, Massimo Cefalo
Publikováno v:
Mathematics and Computers in Simulation. 106:133-162
In this paper we propose a mesh algorithm to generate a regular and conformal family of nested triangulations for a planar domain divided into two non-convex polygonal subdomains by a prefractal Koch type interface. The presence of the interface, a p
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5818cb3f8d99c3e54592d48c68ba70bd
https://doi.org/10.1016/j.matcom.2014.04.009
https://doi.org/10.1016/j.matcom.2014.04.009
Autor:
Evangelista, Daniele, Iodice, F., Perica, A., Massimo Cefalo, Emanuele Magrini, michele anzidei, Marilena VENDITTELLI
Publikováno v:
Sapienza Università di Roma-IRIS
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::41b956518b836de6a2649fc57b041b53
http://hdl.handle.net/11573/952705
http://hdl.handle.net/11573/952705