Výsledky vyhledávání - "Wasiela, Simon"

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A Sensitivity-Aware Motion Planner (SAMP) to Generate Intrinsically-Robust Trajectories

Autor: Wasiela, Simon, Giordano, Paolo, Cortés, Juan, Simeon, Thierry

Publikováno v: ICRA'23-IEEE Int. Conf. on Robotics and Automation
ICRA'23-IEEE Int. Conf. on Robotics and Automation, May 2023, London, United Kingdom
ICRA 2023-IEEE International Conference on Robotics and Automation
ICRA 2023-IEEE International Conference on Robotics and Automation, May 2023, London, United Kingdom. pp.1-7

International audience; Closed-loop state sensitivity [1], [2] is a recently introduced notion that can be used to quantify deviations of the closed-loop trajectory of a robot/controller pair against variations of uncertain parameters in the robot mo

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::3073a62f94808af1a79e864259bfd6cc
https://hal.inria.fr/hal-04019745

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Learned Sensitivity Metrics for Robust and Accurate Motion Planning

Autor: Wasiela, Simon, Cognetti, Marco, Robuffo Giordano, Paolo, Cortés, Juan, Simeon, Thierry

This paper addresses the problem of computing robust trajectories against uncertainties in the robot model. Based on the notion of closed-loop state sensitivity introduced in [1], [2] for identifying deviations of the closed-loop trajectories of any

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=dedup_wf_001::81185cea5610758224a922ce8b906aa9
https://hal.laas.fr/hal-04027078

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