相关论文: A Comparative Study of Nonlinear MPC and Different…

Accurate control of autonomous marine robots still poses challenges due to the complex dynamics of the environment. In this paper, we propose a Deep Reinforcement Learning (DRL) approach to train a controller for autonomous surface vessel…

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such…

We propose a nonlinear model predictive control (NMPC) framework based on a direct optimal control method that ensures continuous-time constraint satisfaction and accurate evaluation of the running cost, without compromising computational…

In this paper, we investigate a hybrid scheme that combines nonlinear model predictive control (MPC) and model-based reinforcement learning (RL) for navigation planning of an autonomous model car across offroad, unstructured terrains…

This paper addresses the problem of traversing through unknown, tilted, and narrow gaps for quadrotors using Deep Reinforcement Learning (DRL). Previous learning-based methods relied on accurate knowledge of the environment, including the…

Re-planning in legged locomotion is crucial to track the desired user velocity while adapting to the terrain and rejecting external disturbances. In this work, we propose and test in experiments a real-time Nonlinear Model Predictive…

For quadrotors, achieving safe and autonomous flight in complex environments with wind disturbances and dynamic obstacles still faces significant challenges. Most existing methods address wind disturbances in either trajectory planning or…

Autonomous unmanned aerial vehicles (UAVs) that can execute aggressive (i.e., high-speed and high-acceleration) maneuvers have attracted significant attention in the past few years. This paper focuses on accurate tracking of aggressive…

Autonomous agile flight brings up fundamental challenges in robotics, such as coping with unreliable state estimation, reacting optimally to dynamically changing environments, and coupling perception and action in real time under severe…

An omnidirectional multirotor has the maneuverability of decoupled translational and rotational motions, superseding the traditional multirotors' motion capability. Such maneuverability is achieved due to the ability of the omnidirectional…

Existing FPV object tracking methods heavily rely on handcrafted modular pipelines, which incur high onboard computation and cumulative errors. While learning-based approaches have mitigated computational delays, most still generate only…

The growing potential of quadcopters in various domains, such as aerial photography, search and rescue, and infrastructure inspection, underscores the need for real-time control under strict safety and operational constraints. This…

Model Predictive Control (MPC) for tracking formulation presents numerous advantages compared to standard MPC, such as a larger domain of attraction and recursive feasibility even when abrupt changes in the reference are produced. As a…

The Piecewise Constant Curvature (PCC) model is the most widely used soft robotic modeling and control. However, the PCC fails to accurately describe the deformation of the soft robots when executing dynamic tasks or interacting with the…

This work develops a robust nonlinear Model Predictive Control (MPC) framework for path tracking in autonomous vehicles operating at the limits of handling utilizing a Control Contraction Metric (CCM) derived from a perturbed dynamic single…

This paper explores some variations of a hierarchical control framework that has been recently proposed. The framework is dedicated to control a network of interconnected subsystems such as the ones describing cryogenic processes or power…

This paper introduces a neural Nonlinear Model Predictive Control (NMPC) framework for mapless, collision-free navigation in unknown environments with Aerial Robots, using onboard range sensing. We leverage deep neural networks to encode a…

The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly…

Dynamic legged locomotion is a challenging topic because of the lack of established control schemes which can handle aerial phases, short stance times, and high-speed leg swings. In this paper, we propose a controller combining whole-body…

Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…