Výsledky vyhledávání - "Vincenti, Flavio"

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Solving Multi-Entity Robotic Problems Using Permutation Invariant Neural Networks

Autor: An, Tianxu, Lee, Joonho, Bjelonic, Marko, De Vincenti, Flavio, Hutter, Marco

Challenges in real-world robotic applications often stem from managing multiple, dynamically varying entities such as neighboring robots, manipulable objects, and navigation goals. Existing multi-agent control strategies face scalability limitations,

Externí odkaz: http://arxiv.org/abs/2402.18345

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Ungar $\unicode{x2013}$ A C++ Framework for Real-Time Optimal Control Using Template Metaprogramming

Autor: De Vincenti, Flavio, Coros, Stelian

We present Ungar, an open-source library to aid the implementation of high-dimensional optimal control problems (OCPs). We adopt modern template metaprogramming techniques to enable the compile-time modeling of complex systems while retaining maximum

Externí odkaz: http://arxiv.org/abs/2309.06783

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Nonlinear Model Predictive Control for Quadrupedal Locomotion Using Second-Order Sensitivity Analysis

Autor: Kang, Dongho, De Vincenti, Flavio, Coros, Stelian

We present a versatile nonlinear model predictive control (NMPC) formulation for quadrupedal locomotion. Our formulation jointly optimizes a base trajectory and a set of footholds over a finite time horizon based on simplified dynamics models. We lev

Externí odkaz: http://arxiv.org/abs/2207.10465

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