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pro vyhledávání: '"TAYLOR, ANDREW J."'
Robots deployed in unstructured, real-world environments operate under considerable uncertainty due to imperfect state estimates, model error, and disturbances. Given this real-world context, the goal of this paper is to develop controllers that are
Externí odkaz:
http://arxiv.org/abs/2302.07469
Balancing safety and performance is one of the predominant challenges in modern control system design. Moreover, it is crucial to robustly ensure safety without inducing unnecessary conservativeness that degrades performance. In this work we present
Externí odkaz:
http://arxiv.org/abs/2206.03568
Complex control systems are often described in a layered fashion, represented as higher-order systems where the inputs appear after a chain of integrators. While Control Barrier Functions (CBFs) have proven to be powerful tools for safety-critical co
Externí odkaz:
http://arxiv.org/abs/2204.00653
Modern control systems must operate in increasingly complex environments subject to safety constraints and input limits, and are often implemented in a hierarchical fashion with different controllers running at multiple time scales. Yet traditional c
Externí odkaz:
http://arxiv.org/abs/2204.00152
Control Barrier Functions (CBFs) have been demonstrated to be a powerful tool for safety-critical controller design for nonlinear systems. Existing design paradigms do not address the gap between theory (controller design with continuous time models)
Externí odkaz:
http://arxiv.org/abs/2203.11470
Autor:
Galliker, Manuel Y., Csomay-Shanklin, Noel, Grandia, Ruben, Taylor, Andrew J., Farshidian, Farbod, Hutter, Marco, Ames, Aaron D.
The ability to generate dynamic walking in real-time for bipedal robots with input constraints and underactuation has the potential to enable locomotion in dynamic, complex and unstructured environments. Yet, the high-dimensional nature of bipedal ro
Externí odkaz:
http://arxiv.org/abs/2203.07429
Autor:
Hamilton-Craig, Christian, Grieve, Stuart M., Slaughter, Richard, Chen, Sylvia, Keenan, Ross, Moses, Daniel, Younger, John F., Selvanayagam, Joseph B., Taylor, Andrew J.
Publikováno v:
In Heart, Lung and Circulation October 2024 33(10):1427-1431