Related papers: High-Speed Accurate Robot Control using Learned Fo…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
We focus on developing efficient and reliable policy optimization strategies for robot learning with real-world data. In recent years, policy gradient methods have emerged as a promising paradigm for training control policies in simulation.…
This article presents a method to automatically generate energy-optimal trajectories for systems with linear dynamics, linear constraints, and a quadratic cost functional (LQ systems). First, using recent advancements in optimal control, we…
Trajectory optimization is a powerful tool for robot motion planning and control. State-of-the-art general-purpose nonlinear programming solvers are versatile, handle constraints effectively and provide a high numerical robustness, but they…
Drifting is a complicated task for autonomous vehicle control. Most traditional methods in this area are based on motion equations derived by the understanding of vehicle dynamics, which is difficult to be modeled precisely. We propose a…
This paper extends the RRT* algorithm, a recently developed but widely-used sampling-based optimal motion planner, in order to effectively handle nonlinear kinodynamic constraints. Nonlinearity in kinodynamic differential constraints often…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
Projected Inverse Dynamics Control (PIDC) is commonly used in robots subject to contact, especially in quadrupedal systems. Many methods based on such dynamics have been developed for quadrupedal locomotion tasks, and only a few works…
This article addresses the problem of controlling the speed of a number of automated vehicles before they enter a speed reduction zone on a freeway. We formulate the control problem and provide an analytical, closed-form solution that can…
This paper presents a modeling and control framework for multibody flying robots subject to non-negligible aerodynamic forces acting on the centroidal dynamics. First, aerodynamic forces are calculated during robot flight in different…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
Sampling-based kinodynamic planners, such as Rapidly-exploring Random Trees (RRTs), pose two fundamental challenges: computing a reliable (pseudo-)metric for the distance between two randomly sampled nodes, and computing a steering input to…
We present a novel approach to controlling the instantaneous velocity of a robot end-effector that is able to simultaneously maximise manipulability and avoid joint limits. It operates on non-redundant and redundant robots, which is…
Differential drive robots are widely used in various scenarios thanks to their straightforward principle, from household service robots to disaster response field robots. There are several types of driving mechanisms for real-world…
Local planning for a differential wheeled robot is designed to generate kinodynamic feasible actions that guide the robot to a goal position along the navigation path while avoiding obstacles. Reactive, predictive, and learning-based…
In this study, we present a novel method for enhancing the computational efficiency of whole-body control for humanoid robots, a challenge accentuated by their high degrees of freedom. The reduced-dimension rigid body dynamics of a floating…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
Hyper-redundant robots offer high dexterity, making them good at operating in confined and unstructured environments. To extend the reachable workspace, we built a multi-segment flexible rack actuated planar robot. However, the compliance…
Industrial robots are increasingly deployed in applications requiring an end effector tool to closely track a specified path, such as in spraying and welding. Performance and productivity present possibly conflicting objectives: tracking…
This article presents an eco-driving algorithm for electric vehicles featuring multi-speed transmissions. The proposed controller is formulated as a co-optimization problem, simultaneously optimizing both vehicle longitudinal speed and…