Memory Clustering Using Persistent Homology for Multimodality- and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts

Autor: Vladimir Ivan, Traiko Dinev, Ioannis Havoutis, Wolfgang Merkt, Sethu Vijayakumar

Publikováno v: Merkt, W X, Ivan, V, Dinev, T, Havoutis, I & Vijayakumar, S 2021, ' Memory Clustering Using Persistent Homology for Multimodality-and Discontinuity-Sensitive Learning of Optimal Control Warm-Starts ', IEEE Transactions on Robotics, vol. 37, no. 5, pp. 1649-1660 . https://doi.org/10.1109/TRO.2021.3069132

Shooting methods are an efficient approach to solving nonlinear optimal control problems. As they use local optimization, they exhibit favorable convergence when initialized with a good warm-start but may not converge at all if provided with a poor i

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::5e502b8df1d01c8e1041793892629190
https://doi.org/10.1109/tro.2021.3069132

Applying kriging proxies for Markov chain Monte Carlo in reservoir simulation

Autor: Ilya Fursov, Michael Andrew Christie, Gabriel J. Lord

Publikováno v: Computational Geosciences. 24:1725-1746

One way to quantify the uncertainty in Bayesian inverse problems arising in the engineering domain is to generate samples from the posterior distribution using Markov chain Monte Carlo (MCMC) algorithms. The basic MCMC methods tend to explore the par

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_________::744a5e69a8678122e153ee5107757ca1
https://doi.org/10.1007/s10596-020-09968-z

Human posture prediction during physical human-robot interaction

Autor: Alexis Aubry, Lorenzo Vianello, Serena Ivaldi, Jean-Baptiste Mouret, Eloïse Dalin

Publikováno v: IEEE Robotics and Automation Letters
IEEE Robotics and Automation Letters, IEEE 2021, 6 (3), pp.6046-6053. ⟨10.1109/LRA.2021.3086666⟩
IEEE Robotics and Automation Letters, 2021, 6 (3), pp.6046-6053. ⟨10.1109/LRA.2021.3086666⟩
International Conference on Humanoid Robots, HUMANOIDS 2020
International Conference on Humanoid Robots, HUMANOIDS 2020, Jul 2021, Munich (Virtual), Germany
HUMANOIDS 2020-International Conference on Humanoid Robots
HUMANOIDS 2020-International Conference on Humanoid Robots, Jul 2021, Munich (Virtual), Germany

International audience; When a human is interacting physically with a robot to accomplish a task, his/her posture is inevitably influenced by the robot movement. Since the human is not controllable, an active robot imposing a collaborative trajectory

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c9322046767d71ba810b4120847b779a
https://hal.archives-ouvertes.fr/hal-03115242

A Multilevel Monte Carlo Method for High-Dimensional Uncertainty Quantification of Low-Frequency Electromagnetic Devices

Autor: Zeger Bontinck, Armin Galetzka, Sebastian Schöps, Ulrich Römer

Publikováno v: IEEE Transactions on Magnetics. 55:1-12

This paper addresses uncertainty quantification of electromagnetic devices determined by the eddy current problem. The multilevel Monte Carlo (MLMC) method is used for the treatment of uncertain parameters while the devices are discretized in space b

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::fcbcbd3551dc00f84a60ddc8d8293e82
https://doi.org/10.1109/tmag.2019.2911053

Seismic data assimilation with an imperfect model

Autor: Miguel Alfonzo, Dean S. Oliver

Publikováno v: Computational Geosciences. 24:889-905

Data assimilation methods often assume perfect models and uncorrelated observation error. The assumption of a perfect model is probably always wrong for applications to real systems, and since model error is known to generally induce correlated effec

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::90270967c32b6abd6f285fa8e9f4b4e8
https://doi.org/10.1007/s10596-019-09849-0