Related papers: Underactuated Waypoint Trajectory Optimization for…

We present a data-driven optimization approach for robotic controlled deposition with a degradable tool. Existing methods make the assumption that the tool tip is not changing or is replaced frequently. Errors can accumulate over time as…

This paper presents a noval method that generates optimal trajectories for autonomous vehicles for in-lane driving scenarios. The method computes a trajectory using a two-phase optimization procedure. In the first phase, the optimization…

The alternating direction method of multipliers (ADMM) is one of the most widely used first-order optimisation methods in the literature owing to its simplicity, flexibility and efficiency. Over the years, numerous efforts are made to…

We propose a data-driven optimization-based pre-compensation method to improve the contour tracking performance of precision motion stages by modifying the reference trajectory and without modifying any built-in low-level controllers. The…

This paper proposes a fast and accurate trajectory planning algorithm for autonomous parking. Nominally, an optimal control problem should be formulated to describe this scheme, but the dimensionality of the optimal control problem is…

Adjusting camera exposure in arbitrary lighting conditions is the first step to ensure the functionality of computer vision applications. Poorly adjusted camera exposure often leads to critical failure and performance degradation.…

Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…

This paper focuses on robustness to disturbance forces and uncertain payloads. We present a novel formulation to optimize the robustness of dynamic trajectories. A straightforward transcription of this formulation into a nonlinear…

Achieving quantum-limited motional control of optically trapped particles beyond the sub-micrometer scale is an outstanding problem in levitated optomechanics. A key obstacle is solving the light scattering problem and identifying particle…

Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…

Multi-task learning has gained popularity due to the advantages it provides with respect to resource usage and performance. Nonetheless, the joint optimization of parameters with respect to multiple tasks remains an active research topic.…

This paper demonstrates a refined approach to solving dynamic optimization problems for underactuated marine surface vessels. To this end the differential flatness of a mathematical model assuming full actuation is exploited to derive an…

Systematically including dynamically changing waypoints as desired discrete actions, for instance, resulting from superordinate task planning, has been challenging for online model predictive trajectory optimization with short planning…

We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…

In this work, we present a novel tool for reconstructing networks from corrupted images. The reconstructed network is the result of a minimization problem that has a misfit term with respect to the observed data, and a physics-based…

In this paper, we present a novel approach to reconstruct a unique image of an observed scene with widely distributed radar sensors. The problem is posed as a constrained optimization problem in which the global image which represents the…

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…

This letter investigates the transmit power and trajectory optimization problem for unmanned aerial vehicle (UAV)-aided networks. Different from majority of the existing studies with fixed communication infrastructure, a dynamic scenario is…

Designing and optimizing ion optical systems is often a complex and difficult task, which requires the use of computational tools to iterate and converge towards the desired characteristics and performances of the system. Very often these…

This paper addresses the trajectory tracking control problem for underactuated VTOL UAVs. According to the different actuation mechanisms, the most common UAV platforms can achieve only a partial decoupling of attitude and position tasks.…