Related papers: Set-based Control for Autonomous Spray Painting
Skill-based programming of robots provides a flexible approach for automation. Existing solutions neglect the optimization of motion sequences, leading to inefficiencies in execution. This work introduces a planning method that enhances…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
We present a novel, regression-based method for artistically styling images. Unlike recent neural style transfer or diffusion-based approaches, our method allows for explicit control over the stroke composition and level of detail in the…
Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification of task constraints and their associated priorities usually…
Optimal control of thermostatically controlled loads connected to a district heating network is considered a sequential decision- making problem under uncertainty. The practicality of a direct model-based approach is compromised by two…
This paper addresses novel applications to practical modeling of the newly developed theory of necessary optimality conditions in controlled sweeping/Moreau processes with free time and pointwise control and state constraints. Problems of…
In this paper, an adaptive control scheme based on using neural networks is designed to guarantee the desired behavior of a micro-robot which is equipped with vibrating actuators and follows the principle of slip-stick movement. There are…
This paper proposes a novel control framework for robotic swarms capable of turning a musical input into a painting. The approach connects the two artistic domains, music and painting, leveraging their respective connections to fundamental…
This paper addresses the problem of robotic cutting during disassembly of products for materials separation and recycling. Waste handling applications differ from milling in manufacturing processes, as they engender considerable variety and…
With advancing technologies, robotic manipulators and visual environment sensors are becoming cheaper and more widespread. However, robot control can be still a limiting factor for better adaptation of these technologies. Robotic…
Efficient mobility and power consumption are critical for autonomous water surface robots in long-term water environmental monitoring. This study develops and evaluates a transformable mobility mechanism for a water surface robot with two…
This paper presents the application of a learning control approach for the realization of a fast and reliable pick-and-place application with a spherical soft robotic arm. The arm is characterized by a lightweight design and exhibits…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
Formation control methods of connected and automated vehicles have been proposed to smoothly switch the structure of vehicular formations in different scenarios. In the previous research, simulations are often conducted to verify the…
In this paper, we propose a method to automatically and efficiently tune high-dimensional vectors of controller parameters. The proposed method first learns a mapping from the high-dimensional controller parameter space to a lower…
Research, innovation and practical capital investment have been increasing rapidly toward the realization of autonomous physical agents. This includes industrial and service robots, unmanned aerial vehicles, embedded control devices, and a…
In this paper, we introduce a new sensor-based control method that regulates (by means of robot motions) the heat transfer between a radiative source and an object of interest. This valuable sensorimotor capability is needed in many…
This paper proposes a time-efficient attitude-tracking controller considering the slew rate constraint and control constraint. The algorithm defines the sliding surface, which is the linear combination of command, body, and regulating…
The numerical method developed in [30] for optimal control problems involving sweeping processes with smooth sweeping set C is generalized to the case where C is nonsmooth, namely, C is the intersection of a finite number of sublevel sets…