Related papers: The Durham adaptive optics real-time controller: C…
Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here,…
The ability to deal with systems parametric uncertainties is an essential issue for heavy self-driving vehicles in unconfined environments. In this sense, robust controllers prove to be efficient for autonomous navigation. However,…
Force control is essential for medical robots when touching and contacting the patient's body. To increase the stability and efficiency in force control, an Adaption Module could be used to adjust the parameters for different contact…
Adaptive Optics at mid-IR wavelengths has long been seen as either not necessary or easy. The impact of atmospheric turbulence on the performance of 8-10 meter class telescopes in the mid-IR is relatively small compared to other performance…
The efficiency of the management of top-class ground-based astronomical facilities supported by Adaptive Optics (AO) relies on our ability to forecast the optical turbulence (OT) and a set of relevant atmospheric parameters. Indeed, in…
Reinforcement Learning (RL) presents a new approach for controlling Adaptive Optics (AO) systems for Astronomy. It promises to effectively cope with some aspects often hampering AO performance such as temporal delay or calibration errors.…
Recent advances in adaptive optics (AO) have led to the implementation of wide field-of-view AO systems. A number of wide-field AO systems are also planned for the forthcoming Extremely Large Telescopes. Such systems have multiple wavefront…
In this paper, a novel adaptive optimal control strategy is proposed to achieve the cooperative optimal output regulation of continuous-time linear multi-agent systems based on adaptive dynamic programming (ADP). The proposed method is…
We develop an adaptive control architecture to achieve stabilization and command following of uncertain dynamical systems with improved transient performance. Our framework consists of a new reference system and an adaptive controller. The…
The attitude control of a spacecraft is integral to achieving mission success. However, failures in actuators such as reaction wheels are detrimental and can often lead to an early end of mission. We propose a Lyapunov-based adaptive…
MICADO is the adaptive optics imaging camera for the E-ELT. It has been designed and optimised to be mounted to the LGS-MCAO system MAORY, and will provide diffraction limited imaging over a wide (about 1 arcmin) field of view. For initial…
Multiple object tracking (MOT) is a fundamental component of perception systems for autonomous driving, and its robustness to unseen conditions is a requirement to avoid life-critical failures. Despite the urge of safety in driving systems,…
Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…
We present a smart sunglasses system engineered to assist individuals experiencing photophobia, particularly those highly sensitive to light intensity. The system integrates a high dynamic range (HDR) camera and a liquid crystal spatial…
Deep Reinforcement Learning (DRL) agents frequently face challenges in adapting to tasks outside their training distribution, including issues with over-fitting, catastrophic forgetting and sample inefficiency. Although the application of…
We develop a method for the model reference adaptive control (MRAC) of LTI systems via Extremum Seeking (ES). Our proof of global asymptotic tracking enables design of the adaptive controller to satisfy averaging requirements, and…
Many existing traffic signal controllers are either simple adaptive controllers based on sensors placed around traffic intersections, or optimized by traffic engineers on a fixed schedule. Optimizing traffic controllers is time consuming…
The next generation ground-based extremely large telescopes (ELTs) present incredible opportunities to discover and characterize diverse planetary systems, even potentially habitable worlds. Adaptive-optics assisted thermal-IR (3-14 micron)…
Controlling complex dynamical systems has been a topic of considerable interest in academic circles in recent decades. While existing works have primarily focused on closed-loop control schemes with infinite-time durations, this paper…
Nighttime UAV tracking presents significant challenges due to extreme illumination variations and viewpoint changes, which severely degrade tracking performance. Existing approaches either rely on light enhancers with high computational…