Zobrazeno 1 - 10
of 49
pro vyhledávání: '"Sehr, Martin A."'
Playing the cup-and-ball game is an intriguing task for robotics research since it abstracts important problem characteristics including system nonlinearity, contact forces and precise positioning as terminal goal. In this paper, we present a learnin
Externí odkaz:
http://arxiv.org/abs/2007.09562
Publikováno v:
International Conference on Robotics and Automation (ICRA) 2020
We study the problem of sequential task assignment and collision-free routing for large teams of robots in applications with inter-task precedence constraints (e.g., task $A$ and task $B$ must both be completed before task $C$ may begin). Such proble
Externí odkaz:
http://arxiv.org/abs/2006.08845
Industry 4.0 is changing fundamentally data collection, its storage and analysis in industrial processes, enabling novel application such as flexible manufacturing of highly customized products. Real-time control of these processes, however, has not
Externí odkaz:
http://arxiv.org/abs/2005.01890
Active perception systems maximizing information gain to support both monitoring and decision making have seen considerable application in recent work. In this paper, we propose and demonstrate a method of acquiring and extrapolating information in a
Externí odkaz:
http://arxiv.org/abs/2005.00167
STT-CBS: A Conflict-Based Search Algorithm for Multi-Agent Path Finding with Stochastic Travel Times
We present an algorithm for finding optimal paths for multiple stochastic agents in a graph to reach their destinations with a user-specified maximum pairwise collision probability. Our algorithm, called STT-CBS, uses Conflict-Based Search (CBS) with
Externí odkaz:
http://arxiv.org/abs/2004.08025
Industry 4.0 is changing fundamentally the way data is collected, stored and analyzed in industrial processes. While this change enables novel application such as flexible manufacturing of highly customized products, the real-time control of these pr
Externí odkaz:
http://arxiv.org/abs/1912.02531
Autor:
Hofer, Florian, Sehr, Martin A., Iannopollo, Antonio, Ugalde, Ines, Sangiovanni-Vincentelli, Alberto, Russo, Barbara
We explore the challenges and opportunities of shifting industrial control software from dedicated hardware to bare-metal servers or cloud computing platforms using off the shelf technologies. In particular, we demonstrate that executing time-critica
Externí odkaz:
http://arxiv.org/abs/1908.04465
Autor:
Sehr, Martin A, Bitmead, Robert R
A new formulation of Stochastic Model Predictive Output Feedback Control is presented and analyzed as a translation of Stochastic Optimal Output Feedback Control into a receding horizon setting. This requires lifting the design into a framework invol
Externí odkaz:
http://arxiv.org/abs/1706.00733
Autor:
Sehr, Martin A., Bitmead, Robert R.
We revisit closed-loop performance guarantees for Model Predictive Control in the deterministic and stochastic cases, which extend to novel performance results applicable to receding horizon control of Partially Observable Markov Decision Processes.
Externí odkaz:
http://arxiv.org/abs/1704.07773
Autor:
Sehr, Martin A., Bitmead, Robert R.
Output-Feedback Stochastic Model Predictive Control based on Stochastic Optimal Control for nonlinear systems is computationally intractable because of the need to solve a Finite Horizon Stochastic Optimal Control Problem. However, solving this probl
Externí odkaz:
http://arxiv.org/abs/1704.07770