相关论文: Robotic Assembly Control Reconfiguration Based on …

Advanced model-based controllers are well established in process industries. However, such controllers require regular maintenance to maintain acceptable performance. It is a common practice to monitor controller performance continuously…

This paper focuses on transferring control policies between robot manipulators with different morphology. While reinforcement learning (RL) methods have shown successful results in robot manipulation tasks, transferring a trained policy…

Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…

Reinforcement Learning (RL) algorithms can in principle acquire complex robotic skills by learning from large amounts of data in the real world, collected via trial and error. However, most RL algorithms use a carefully engineered setup in…

Equipping quadruped robots with manipulators provides unique loco-manipulation capabilities, enabling diverse practical applications. This integration creates a more complex system that has increased difficulties in modeling and control.…

The deployment of Autonomous Vehicles (AVs) poses considerable challenges and unique opportunities for the design and management of future urban road infrastructure. In light of this disruptive transformation, the Right-Of-Way (ROW)…

Inverted pendulums constitute one of the popular systems for benchmarking control algorithms. Several methods have been proposed for the control of this system, the majority of which rely on the availability of a mathematical model.…

Reinforcement learning (RL) algorithms find applications in inventory control, recommender systems, vehicular traffic management, cloud computing and robotics. The real-world complications of many tasks arising in these domains makes them…

Many instances of similar or almost-identical industrial machines or tools are often deployed at once, or in quick succession. For instance, a particular model of air compressor may be installed at hundreds of customers. Because these tools…

Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…

Quadrupedal robots are increasingly deployed for load-carrying tasks across diverse terrains. While Model Predictive Control (MPC)-based methods can account for payload variations, they often depend on predefined gait schedules or…

Object insertion tasks are prone to failure under pose uncertainty and environmental variation, often requiring manual fine-tuning or controller retraining. We present a novel approach for robust and resilient object insertion using a…

Model-free deep reinforcement learning (DRL) methods suffer from poor sample efficiency. To overcome this limitation, this work introduces an adaptive reduced-order-model (ROM)-based reinforcement learning framework for active flow control.…

Model-free or learning-based control, in particular, reinforcement learning (RL), is expected to be applied for complex robotic tasks. Traditional RL requires a policy to be optimized is state-dependent, that means, the policy is a kind of…

Smart electric wheelchairs can improve user experience by supporting the driver with shared control. State-of-the-art work showed the potential of shared control in improving safety in navigation for non-holonomic robots. However, for…

Continuous-time nonlinear optimal control problems hold great promise in real-world applications. After decades of development, reinforcement learning (RL) has achieved some of the greatest successes as a general nonlinear control design…

Detailed routing remains one of the most complex and time-consuming steps in modern physical design due to the challenges posed by shrinking feature sizes and stricter design rules. Prior detailed routers achieve state-of-the-art results by…

Robotic peg-in-hole assembly represents a critical area of investigation in robotic automation. The fusion of reinforcement learning (RL) and deep neural networks (DNNs) has yielded remarkable breakthroughs in this field. However, existing…

Reliable satellite attitude control is essential for the success of space missions, particularly as satellites increasingly operate autonomously in dynamic and uncertain environments. Reaction wheels (RWs) play a pivotal role in attitude…

To maintain structural integrity and functionality during the designed life cycle of a structure, engineers are expected to accommodate for natural hazards as well as operational load levels. Active control systems are an efficient solution…