Zobrazeno 1 - 10
of 20
pro vyhledávání: '"Udit Halder"'
Autor:
Chia-Hsien Shih, Noel Naughton, Udit Halder, Heng-Sheng Chang, Seung Hyun Kim, Rhanor Gillette, Prashant G. Mehta, Mattia Gazzola
Publikováno v:
Advanced Intelligent Systems, Vol 5, Iss 9, Pp n/a-n/a (2023)
Inspired by the unique neurophysiology of the octopus, a hierarchical framework is proposed that simplifies the coordination of multiple soft arms by decomposing control into high‐level decision‐making, low‐level motor activation, and local ref
Externí odkaz:
https://doaj.org/article/0c0e12668b1e49f7a91742818a084777
Autor:
Heng-Sheng Chang, Udit Halder, Chia-Hsien Shih, Noel Naughton, Mattia Gazzola, Prashant G. Mehta
Flexible octopus arms exhibit an exceptional ability to coordinate large numbers of degrees of freedom and perform complex manipulation tasks. As a consequence, these systems continue to attract the attention of biologists and roboticists alike. In t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bfdf1a43a29fe4d9d545b9ca2b4db0e8
http://arxiv.org/abs/2209.04089
http://arxiv.org/abs/2209.04089
Publikováno v:
Systems & Control Letters. 174:105488
Avian flocks display a wide variety of flight behaviors, including steady directed translation of center of mass, rapid change of overall morphology, re-shuffling of positions of individuals within a persistent form, etc. These behaviors may be viewe
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::c7d1c0d0fb274410c4dd73046e6a809c
https://doi.org/10.1016/j.sysconle.2023.105488
https://doi.org/10.1016/j.sysconle.2023.105488
Autor:
Heng-Sheng Chang, Udit Halder, Ekaterina Gribkova, Arman Tekinalp, Noel Naughton, Mattia Gazzola, Prashant G. Mehta
Publikováno v:
2021 60th IEEE Conference on Decision and Control (CDC).
This paper presents an application of the energy shaping methodology to control a flexible, elastic Cosserat rod model of a single octopus arm. The novel contributions of this work are two-fold: (i) a control-oriented modeling of the anatomically rea
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::f4fca39c42389fb23a89955ee76e00c3
https://doi.org/10.1109/cdc45484.2021.9683318
https://doi.org/10.1109/cdc45484.2021.9683318
Autor:
Heng-Sheng Chang, Rhanor Gillette, Girish Chowdhary, Mattia Gazzola, Chia-Hsien Shih, Udit Halder, Tejaswin Parthasarathy, Prashant G. Mehta, Arman Tekinalp, Ekaterina Gribkova
Publikováno v:
CDC
This paper entails the application of the energy shaping methodology to control a flexible, elastic Cosserat rod model. Recent interest in such continuum models stems from applications in soft robotics, and from the growing recognition of the role of
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::0c89ec0faa918bd6ead2dbae906a9216
https://doi.org/10.1109/cdc42340.2020.9304408
https://doi.org/10.1109/cdc42340.2020.9304408
Publikováno v:
ACC
In this paper, we use the optimal control methodology to control a flexible, elastic Cosserat rod. An inspiration comes from stereotypical movement patterns in octopus arms, which are observed in a variety of manipulation tasks, such as reaching or f
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::b0f4d358b7427631a10a5b6f2f57df24
http://arxiv.org/abs/2010.01226
http://arxiv.org/abs/2010.01226
Autor:
Udit Halder, Uros Kalabic
Publikováno v:
IFAC-PapersOnLine. 50:6320-6325
This work considers the problem of minimizing the path-curvature of a unicycle moving between two configurations in SE(2) with free final time. The problem is posed as an optimal control problem and the necessary conditions are derived using the Pont
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a598eb3f2a0daa7be4c70ace21deff90
https://doi.org/10.1016/j.ifacol.2017.08.916
https://doi.org/10.1016/j.ifacol.2017.08.916
Publikováno v:
IEEE Transactions on Cybernetics. 43:881-897
This paper presents a Cluster-based Dynamic Differential Evolution with external Ar chive (CDDE_Ar) for global optimization in dynamic fitness landscape. The algorithm uses a multipopulation method where the entire population is partitioned into seve
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::01704ba99c02645e1f50d4b45f8d7f47
https://doi.org/10.1109/tsmcb.2012.2217491
https://doi.org/10.1109/tsmcb.2012.2217491
Publikováno v:
CDC
In this paper we investigate a model of two agents (self-steering particles) engaged in a dyadic interaction, with one pursuing the other using a constant bearing strategy. The pursued agent is controlled independently. Analysis of this interaction s
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::6cbedb4d8520f658a01f70957197c243
https://doi.org/10.1109/cdc.2016.7798850
https://doi.org/10.1109/cdc.2016.7798850
Autor:
Udit Halder, Soumyadip Sengupta, Dipankar Maity, Swagatam Das, Nasir, Ponnuthurai Nagaratnam Suganthan
Publikováno v:
Information Sciences. 209:16-36
The concept of particle swarms originated from the simulation of the social behavior commonly observed in animal kingdom and evolved into a very simple but efficient technique for optimization in recent past. Since its advent in 1995, the Particle Sw
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::faf689fb557d4829fce8a1e696f87c96
https://doi.org/10.1016/j.ins.2012.04.028
https://doi.org/10.1016/j.ins.2012.04.028