Related papers: Set-based Control for Autonomous Spray Painting
This paper presents a distributed painting algorithm for painting a priori known rectangular region by swarm of autonomous mobile robots. We assume that the region is obstacle free and of rectangular in shape. The basic approach is to…
This paper introduces a method to compute a sparse lattice planner control set that is suited to a particular task by learning from a representative dataset of vehicle paths. To do this, we use a scoring measure similar to the Fr\'echet…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
We present a reactive base control method that enables high performance mobile manipulation on-the-move in environments with static and dynamic obstacles. Performing manipulation tasks while the mobile base remains in motion can…
We study the application of a generalized form of the level set method used in classical physical contexts to quantum optimal control situations. The set of OCT equations needed to keep the expectation value of an observable constant is…
The paper deals with the new control method developed for the pressure sewer systems. This method eliminates the disadvantages of currently common used on-off regulation. The major disadvantage is a transition of inconstancies of the…
Learning-based control methods utilize run-time data from the underlying process to improve the controller performance under model mismatch and unmodeled disturbances. This is beneficial for optimizing industrial processes, where the…
This paper presents a novel graph-based method for adapting control system architectures at runtime. We use a service-oriented architecture as a basis for its formulation. In our method, adaptation is achieved by selecting the most suitable…
We present a new robotic drawing system based on stroke-based rendering (SBR). Our motivation is the artistic quality of the whole performance. Not only should the generated strokes in the final drawing resemble the input image, but the…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
Multi-agent coverage control is used as a mechanism to influence the behavior of a group of robots by introducing time-varying domain. The coverage optimization problem is modified to adopt time-varying domains, and the proposed control law…
Most modern control systems are switched, meaning they have continuous as well as discrete decision variables. Switched systems often have constraints called dwell-time constraints (e.g., cycling constraints in a heat pump) on the switching…
Set-based integration methods allow to prove properties of differential systems, which take into account bounded disturbances. The systems (either time-discrete, time-continuous or hybrid) satisfying such properties are said to be "robust".…
This paper presents the application of an iterative learning control scheme to improve the position tracking performance for an articulated soft robotic arm during aggressive maneuvers. Two antagonistically arranged, inflatable bellows…
This paper proposes a novel stroke-based rendering (SBR) method that translates images into vivid oil paintings. Previous SBR techniques usually formulate the oil painting problem as pixel-wise approximation. Different from this technique…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
Increasing penetration of renewable energy introduces significant uncertainty into power systems. Traditional simulation-based verification methods may not be applicable due to the unknown-but-bounded feature of the uncertainty sets.…
Stroke-based rendering aims to recreate an image with a set of strokes. Most existing methods render complex images using an uniform-block-dividing strategy, which leads to boundary inconsistency artifacts. To solve the problem, we propose…
Robotic painting has been a subject of interest among both artists and roboticists since the 1970s. Researchers and interdisciplinary artists have employed various painting techniques and human-robot collaboration models to create visual…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…