相关论文: Intermittent control as a model of mouse movements

The automobile is always a point of interest where new technology has been deployed. Because of this interest, human-vehicle interaction has been an appealing area for much research in recent years. The current in-vehicle design has been…

We present a shared control paradigm that improves a user's ability to operate complex, dynamic systems in potentially dangerous environments without a priori knowledge of the user's objective. In this paradigm, the role of the autonomous…

Feedback control systems do not do what you ask. The concept of bandwidth is defined to tell what components of a command are reasonably well handled. Iterative Learning Control (ILC) seeks to converge to zero error following any given…

Existing visual trackers mainly operate in a non-interactive, fire-and-forget manner, making them impractical for real-world scenarios that require human-in-the-loop adaptation. To overcome this limitation, we introduce Interactive…

With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally simultaneous impacts. In this framework, we employ tracking…

Robust and adaptive control strategies are needed when robots or automated systems are introduced to unknown and dynamic environments where they are required to cope with disturbances, unmodeled dynamics, and parametric uncertainties. In…

In recent years because of the advances in computer vision research, free hand gestures have been explored as means of human-computer interaction (HCI). Together with improved speech processing technology it is an important step toward…

Cost functions have the potential to provide compact and understandable generalizations of motion. The goal of Inverse Optimal Control (IOC) is to analyze an observed behavior which is assumed to be optimal with respect to an unknown cost…

The existing computational models used to estimate motion sickness are incapable of describing the fact that the predictability of motion patterns affects motion sickness. Therefore, the present study proposes a computational model to…

Linear Model Predictive Control (MPC) is a widely used method to control systems with linear dynamics. Efficient interior-point methods have been proposed which leverage the block diagonal structure of the quadratic program (QP) resulting…

Eye movement data are outputs of an analyser tracking the gaze when a person is inspecting a scene. These kind of data are of increasing importance in scientific research as well as in applications, e.g. in marketing and man-machine…

In this paper, we present an iterative Model Predictive Control (MPC) design for piecewise nonlinear systems. We consider finite time control tasks where the goal of the controller is to steer the system from a starting configuration to a…

Human motion generative modeling or synthesis aims to characterize complicated human motions of daily activities in diverse real-world environments. However, current research predominantly focuses on either low-level, short-period motions…

Assistive mobile robots are a transformative technology that helps persons with disabilities regain the ability to move freely. Although autonomous wheelchairs significantly reduce user effort, they still require human input to allow users…

This paper provides a comprehensive tutorial on a family of Model Predictive Control (MPC) formulations, known as MPC for tracking, which are characterized by including an artificial reference as part of the decision variables in the…

In this work, we aim to achieve efficient end-to-end learning of driving policies in dynamic multi-agent environments. Predicting and anticipating future events at the object level are critical for making informed driving decisions. We…

We present Contingency Model Predictive Control (CMPC), a motion planning and control framework that optimizes performance objectives while simultaneously maintaining a contingency plan -- an alternate trajectory that avoids a potential…

A fundamental question in neuroscience is how the brain creates an internal model of the world to guide actions using sequences of ambiguous sensory information. This is naturally formulated as a reinforcement learning problem under partial…

The sudden onset of deleterious and oscillatory dynamics (often called instabilities) is a known challenge in many fluid, plasma, and aerospace systems. These dynamics are difficult to address because they are nonlinear, chaotic, and are…

An adaptive guidance system that supports equipment operators requires a comprehensive model, which involves a variety of user behaviors that considers different skill and knowledge levels, as well as rapid-changing task situations. In the…