Related papers: High Precision Hydraulic Excavator Control for Hea…
Efficient and safe retrieval of stacked objects in warehouse environments is a significant challenge due to complex spatial dependencies and structural inter-dependencies. Traditional vision-based methods excel at object localization but…
To achieve high-accuracy manipulation in the presence of unknown disturbances, we propose two novel efficient and robust motion control schemes for high-dimensional robot manipulators. Both controllers incorporate an unknown system dynamics…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
Highly accurate and robust control of quantum operations is vital for the realization of error-correctible quantum computation. In this paper, we show that the robustness of high-precision controls can be remarkably enhanced through…
To enhance lifting-load estimation accuracy in industrial upper-limb assistive exoskeletons, this study proposes a machine learning-based approach using insole pressure sensors. Unlike traditional methods that rely on electromyography…
This paper addresses the challenge of autonomous excavation of challenging terrains, in particular those that are prone to jamming and inter-particle adhesion when tackled by a standard penetrate-drag-scoop motion pattern. Inspired by human…
Handling faults is a growing concern in HPC. In future exascale systems, it is projected that silent undetected errors will occur several times a day, increasing the occurrence of corrupted results. In this article, we propose SEDAR, which…
Rock capturing with standard excavator buckets is a challenging task typically requiring the expertise of skilled operators. Unlike soil digging, it involves manipulating large, irregular rocks in unstructured environments where complex…
We examine the behavior of accelerated gradient methods in smooth nonconvex unconstrained optimization, focusing in particular on their behavior near strict saddle points. Accelerated methods are iterative methods that typically step along…
Mapping plays a crucial role in location and navigation within automatic systems. However, the presence of dynamic objects in 3D point cloud maps generated from scan sensors can introduce map distortion and long traces, thereby posing…
Precise robotic manipulation skills are desirable in many industrial settings, reinforcement learning (RL) methods hold the promise of acquiring these skills autonomously. In this paper, we explicitly consider incorporating operational…
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…
Lidar sensors are costly yet critical for understanding the 3D environment in autonomous driving. High-resolution sensors provide more details about the surroundings because they contain more vertical beams, but they come at a much higher…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…
Bolting operations are critical in industrial assembly and in the maintenance of scientific facilities, requiring high precision and robustness to faults. Although robotic solutions have the potential to improve operational safety and…
The global push for sustainability and energy efficiency is driving significant advancements across various industries, including the development of electrified solutions for heavy-duty mobile manipulators (HDMMs). Electromechanical linear…
Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…
This paper highlights the significance of the rotor dynamics in control design for small-scale aerobatic helicopters, and proposes two singularity free robust attitude tracking controllers based on the available states for feedback. 1. The…
Micro well-plates are an apparatus commonly used in chemical and biological experiments that are a few centimeters thick and contain wells or divets. In this paper, we aim to solve the task of placing the well-plate onto a well-plate holder…
Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…