Zobrazeno 1 - 10
of 13
pro vyhledávání: '"Thomas Gurriet"'
Publikováno v:
IEEE Access, Vol 8, Pp 187249-187275 (2020)
There are two main approaches to safety-critical control. The first one relies on computation of control invariant sets and is presented in the first part of this work. The second approach draws from the topic of optimal control and relies on the abi
Externí odkaz:
https://doaj.org/article/5cd11f0ddc8b4f6a9ebf14c88d4d727e
Publikováno v:
IEEE Access, Vol 8, Pp 187249-187275 (2020)
There are two main approaches to safety-critical control. The first one relies on computation of control invariant sets and is presented in the first part of this work. The second approach draws from the topic of optimal control and relies on the abi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::69ade1f69767b0331519bcaf95cabd33
https://ieeexplore.ieee.org/document/9199824/
https://ieeexplore.ieee.org/document/9199824/
Publikováno v:
ICRA
This paper details a novel approach to collision avoidance for aerial vehicles that enables high-speed flight in uncertain environments. This framework is applied at the controller level and provides safety regardless of the planner that is used. The
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::72a2f773f62e9602ca5d113d4dbf2f5b
https://doi.org/10.1109/icra40945.2020.9197416
https://doi.org/10.1109/icra40945.2020.9197416
Publikováno v:
CDC
Most existing methods for guaranteeing safety within robotics require time-consuming set-based computations, which greatly limit their applicability to real-world systems. In recent work, the authors have proposed a novel controlled set invariance fr
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::78fe40c25f07dda79ea796fefe5b1094
https://doi.org/10.1109/cdc40024.2019.9030159
https://doi.org/10.1109/cdc40024.2019.9030159
Publikováno v:
IROS
Future manufacturing environments will see an increased need for cooperation between humans and machines. In this paper we propose a method that allows industrial manipulators to safely operate around humans. This approach guarantees that the manipul
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::b13937d4265a0efc0ceb4bd6bee7cdd4
https://doi.org/10.1109/iros40897.2019.8968231
https://doi.org/10.1109/iros40897.2019.8968231
This paper presents and experimentally demonstrates a novel framework for variable assistance on lower body exoskeletons, based upon safety-critical control methods. Existing work has shown that providing some freedom of movement around a nominal gai
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::49be7833b424a54bac1345abbef240b1
Autor:
M. Eva Mungai, Aaron D. Ames, Omar Harib, Guilhem Boeris, Jessy W. Grizzle, Alexis Duburcq, Ayonga Hereid, Ayush Agrawal, Thomas Gurriet, Matthieu Masselin, Sylvain Finet, Koushil Sreenath
This manuscript presents control of a high-DOF fully actuated lower-limb exoskeleton for paraplegic individuals. The key novelty is the ability for the user to walk without the use of crutches or other external means of stabilization. We harness the
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d160c879f2c582391d34af0bd7c443a6
https://resolver.caltech.edu/CaltechAUTHORS:20181127-081153712
https://resolver.caltech.edu/CaltechAUTHORS:20181127-081153712
Publikováno v:
CDC
This paper presents an online approach to safety critical control. The common approach for enforcing safety of a system requires the offline computation of a viable set, which is either hard and time consuming or very restrictive in terms of operatio
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::95b893b95e8d62ad3205c595d1aa9302
https://doi.org/10.1109/cdc.2018.8619139
https://doi.org/10.1109/cdc.2018.8619139
Autor:
Jessy W. Grizzle, Omar Harib, Matthieu Masselin, Aaron D. Ames, Alexis Duburcq, Sylvain Finet, Ayonga Hereid, Guilhem Boeris, Thomas Gurriet
Publikováno v:
ICRA
This paper presents the first experimental results of crutch-less dynamic walking with paraplegics on a lower-body exoskeleton: ATALANTE, designed by the French start-up company Wandercraft. The methodology used to achieve these results is based on t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::93703b28383a6a4507f3d7dec51307c9
https://resolver.caltech.edu/CaltechAUTHORS:20180921-090557817
https://resolver.caltech.edu/CaltechAUTHORS:20180921-090557817
Publikováno v:
ICCPS '18: ACM/IEEE 9th International Conference on Cyber-Physical Systems
ICCPS '18: ACM/IEEE 9th International Conference on Cyber-Physical Systems, Apr 2018, Porto, Portugal. pp.98-106, ⟨10.1109/ICCPS.2018.00018⟩
ICCPS
ICCPS '18: ACM/IEEE 9th International Conference on Cyber-Physical Systems, Apr 2018, Porto, Portugal. pp.98-106, ⟨10.1109/ICCPS.2018.00018⟩
ICCPS
International audience; This paper presents initial results towards a realizable framework for the safety critical controlled invariance of cyber-physical systems. The main contribution of this paper is the development of a control barrier function b
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::1631530445982dc80d8219c99d14253e
https://hal.inria.fr/hal-03254787
https://hal.inria.fr/hal-03254787