Zobrazeno 1 - 10
of 45
pro vyhledávání: '"Pfeiffer, Kai"'
Autor:
Pfeiffer, Kai, Kheddar, Abderrahmane
In this work, we present several tools for efficient sequential hierarchical least-squares programming (S-HLSP) for lexicographical optimization tailored to robot control and planning. As its main step, S-HLSP relies on approximations of the original
Externí odkaz:
http://arxiv.org/abs/2403.09160
Symbolic task planning for robots is computationally challenging due to the combinatorial complexity of the possible action space. This fact is amplified if there are several sub-goals to be achieved due to the increased length of the action sequence
Externí odkaz:
http://arxiv.org/abs/2303.04518
Autor:
Pfeiffer, Kai, Pham, Quang-Cuong
Least-squares programming is a popular tool in robotics due to its simplicity and availability of open-source solvers. However, certain problems like sparse programming in the $\ell_0$- or $\ell_1$-norm for time-optimal control are not equivalently s
Externí odkaz:
http://arxiv.org/abs/2303.04516
This work links optimization approaches from hierarchical least-squares programming to instantaneous prioritized whole-body robot control. Concretely, we formulate the hierarchical Newton's method which solves prioritized non-linear least-squares pro
Externí odkaz:
http://arxiv.org/abs/2303.04428
Autor:
Pfeiffer, Kai, Jia, Yuze, Yin, Mingsheng, Veldanda, Akshaj Kumar, Hu, Yaqi, Trivedi, Amee, Zhang, Jeff, Garg, Siddharth, Erkip, Elza, Rangan, Sundeep, Righetti, Ludovic
In this paper, we study a navigation problem where a mobile robot needs to locate a mmWave wireless signal. Using the directionality properties of the signal, we propose an estimation and path planning algorithm that can efficiently navigate in clutt
Externí odkaz:
http://arxiv.org/abs/2303.03739
Autor:
Pfeiffer, Kai, Kheddar, Abderrahmane
We present a sequential hierarchical least-squares programming solver with trust-region and hierarchical step-filter with application to prioritized discrete non-linear optimal control. It is based on a hierarchical step-filter which resolves each pr
Externí odkaz:
http://arxiv.org/abs/2302.11891
Autor:
Yin, Mingsheng, Veldanda, Akshaj, Trivedi, Amee, Zhang, Jeff, Pfeiffer, Kai, Hu, Yaqi, Garg, Siddharth, Erkip, Elza, Righetti, Ludovic, Rangan, Sundeep
The millimeter wave (mmWave) bands have attracted considerable attention for high precision localization applications due to the ability to capture high angular and temporal resolution measurements. This paper explores mmWave-based positioning for a
Externí odkaz:
http://arxiv.org/abs/2110.14789
Autor:
Pfeiffer, Kai, Righetti, Ludovic
Linear Model Predictive Control (MPC) is a widely used method to control systems with linear dynamics. Efficient interior-point methods have been proposed which leverage the block diagonal structure of the quadratic program (QP) resulting from the re
Externí odkaz:
http://arxiv.org/abs/2109.03338
Publikováno v:
Optimization and Engineering, 2023
Hierarchical least-squares programs with linear constraints (HLSP) are a type of optimization problem very common in robotics. Each priority level contains an objective in least-squares form which is subject to the linear constraints of the higher pr
Externí odkaz:
http://arxiv.org/abs/2106.13602
Autor:
Zhu, Huaijiang, Sharma, Manali, Pfeiffer, Kai, Mezzavilla, Marco, Shen, Jia, Rangan, Sundeep, Righetti, Ludovic
Real-world applications require light-weight, energy-efficient, fully autonomous robots. Yet, increasing autonomy is oftentimes synonymous with escalating computational requirements. It might thus be desirable to offload intensive computation--not on
Externí odkaz:
http://arxiv.org/abs/2008.08243