Zobrazeno 1 - 10
of 129
pro vyhledávání: '"Tron, Roberto"'
While humans can successfully navigate using abstractions, ignoring details that are irrelevant to the task at hand, most existing robotic applications require the maintenance of a detailed environment representation which consumes a significant amou
Externí odkaz:
http://arxiv.org/abs/2410.06263
The problem of control based on vision measurements (bearings) has been amply studied in the literature; however, the problem of addressing the limits of the field of view of physical sensors has received relatively less attention (especially for age
Externí odkaz:
http://arxiv.org/abs/2410.01277
Autor:
Seidu, Idris, Tron, Roberto
Many physical phenomena involving mobile agents involve time-varying scalar fields, e.g., quadrotors that emit noise. As a consequence, agents can influence and can be influenced by various environmental factors such as noise. This paper delves into
Externí odkaz:
http://arxiv.org/abs/2406.12993
Autor:
Wu, Liangting, Tron, Roberto
This paper introduces the Visual Inverse Kinematics problem (VIK) to fill the gap between robot Inverse Kinematics (IK) and visual servo control. Different from the IK problem, the VIK problem seeks to find robot configurations subject to vision-base
Externí odkaz:
http://arxiv.org/abs/2406.10682
Autor:
Kermanshah, Mehdi, Beaver, Logan E., Sokolich, Max, Kirmizitas, Fatma Ceren, Das, Sambeeta, Tron, Roberto, Weiss, Ron, Belta, Calin
This paper presents a control framework for magnetically actuated cellbots, which combines Model Predictive Control (MPC) with Gaussian Processes (GPs) as a disturbance estimator for precise trajectory tracking. To address the challenges posed by unm
Externí odkaz:
http://arxiv.org/abs/2406.02722
There has been a growing interest in extracting formal descriptions of the system behaviors from data. Signal Temporal Logic (STL) is an expressive formal language used to describe spatial-temporal properties with interpretability. This paper introdu
Externí odkaz:
http://arxiv.org/abs/2405.06670
In this paper, we present a novel sufficient condition for the stability of discrete-time linear systems that can be represented as a set of piecewise linear constraints, which make them suitable for quadratic programming optimization problems. More
Externí odkaz:
http://arxiv.org/abs/2404.15978
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the free configur
Externí odkaz:
http://arxiv.org/abs/2403.16900
Autor:
Zhang, Dawei, Tron, Roberto
We present a novel approach that aims to address both safety and stability of a haptic teleoperation system within a framework of Haptic Shared Autonomy (HSA). We use Control Barrier Functions (CBFs) to generate the control input that follows the use
Externí odkaz:
http://arxiv.org/abs/2403.15335
We consider the problem of designing output feedback controllers that use measurements from a set of landmarks to navigate through a cell-decomposable environment using duality, Control Lyapunov and Barrier Functions (CLF, CBF), and Linear Programmin
Externí odkaz:
http://arxiv.org/abs/2403.14519