Zobrazeno 1 - 10
of 14
pro vyhledávání: '"Pouria Tajvar"'
Publikováno v:
IEEE Transactions on Robotics. :1-17
In this paper, we address the safety and efficiency of data-driven model predictive controllers (DD-MPC) for systems with complex dynamics. First, we utilize safe exploration of dynamical systems to learn an accurate model for the DD-MPC. During trai
Underwater robotic exploration missions typically involve traveling long distances without any human contact.The robots that go on such missions risk getting damaged by the unknown environment, accruing great costs and missed opportunities.Thus it is
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::501503b1a553828f39ef454b73623f2d
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-322736
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-322736
Publikováno v:
Springer Proceedings in Advanced Robotics ISBN: 9783030954581
We present a motion planning algorithm for cases where geometry of the robot cannot be neglected and where its dynamics are governed by non-holonomic constraints. While the two problems are classically treated separately, orientation of the robot str
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::96b034543e099919c9b7bf5b9550114f
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-266371
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-266371
Publikováno v:
7th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2021
7th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2021, Jul 2021, Bruxelles, Belgium. pp121-126, ⟨10.1016/j.ifacol.2021.08.485⟩
ADHS
7th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2021, Jul 2021, Bruxelles, Belgium. pp121-126, ⟨10.1016/j.ifacol.2021.08.485⟩
ADHS
7th IFAC Conference on Analysis and Design of Hybrid Systems ADHS 2021, Bruxelles, BELGIQUE, 07-/07/2021 - 09/07/2021; In this paper, we introduce a hybridization-based feedback control synthesis method for potentially unstable nonlinear continuous-t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0f16d97f106faef42a64e3002edc7368
https://hal.archives-ouvertes.fr/hal-03379691
https://hal.archives-ouvertes.fr/hal-03379691
Unknown properties of a robot's environment are one of the sources of uncertainty in autonomous navigation. This uncertainty has to be accounted for when modelling robot dynamics. For ground vehicles in particular, terrain structure is one of the mai
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1e7c49751d05586608f0081c9d8aecc9
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-304336
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-304336
Publikováno v:
Lecture Notes in Computer Science ISBN: 9783030850364
FORMATS
FORMATS
Motion planning is one of the core problems in a wide range of robotic applications. We discuss the use of temporal logics to include complex objectives, constraints, and preferences in motion planning algorithms and focus on three topics: the first
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::7c419c7af5e9b80cb5d5fe1fd938cfda
https://doi.org/10.1007/978-3-030-85037-1_1
https://doi.org/10.1007/978-3-030-85037-1_1
Publikováno v:
CASE
We propose a sampling-based motion planning algorithm for systems with complex dynamics and temporal logic specifications allowing to tackle sophisticated missions. By complex dynamics we refer to non-holonomy and disturbance that prevent implementat
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::75fbdaa1aaf363b021187889b0b41392
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-298449
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-298449
Publikováno v:
HUMANOIDS
In this paper, we address the safety of data-driven control for contact-rich manipulation. We propose to restrict the controller’s action space to keep the system in a set of safe states. In the absence of an analytical model, we show how Gaussian
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::113beb553e1b06c5a76b75f39b91969f
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296484
http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-296484
Autor:
Sergio Garcia, Patrizio Pelliccione, Kostas J. Kyriakopoulos, Konstantinos Roditakis, Alexandros Makris, Dimos V. Dimarogonas, Pouria Tajvar, Konstantinos Alevizos, Wei Ren, Michalis Logothetis, Antonis A. Argyros, Philipp Schillinger
Publikováno v:
Robotics and Autonomous Systems. 145:103866
Efficiently coordinating different types of robots is an important enabler for many commercial and industrial automation tasks. Here, we present a distributed framework that enables a team of heterogeneous robots to dynamically generate actions from
Publikováno v:
2014 22nd Iranian Conference on Electrical Engineering (ICEE).
In this paper we have introduced the colonial multi-swarm, an algorithm with modular characteristics that can be augmented on several existing variants of Particle Swarm Optimization to alleviate the premature convergence problem. Colonial multi-swar