相关论文: Modelling and Search-Based Testing of Robot Contro…
Nonlinear tracking control enabling a dynamical system to track a desired trajectory is fundamental to robotics, serving a wide range of civil and defense applications. In control engineering, designing tracking control requires complete…
This article investigates the modeling and control of Lagrangian systems involving non-conservative forces using a hybrid method that does not require acceleration calculations. It focuses in particular on the derivation and identification…
Learning-based model predictive control has emerged as a powerful approach for handling complex dynamics in mechatronic systems, enabling data-driven performance improvements while respecting safety constraints. However, when computational…
Many swarm robotics tasks consist of multiple conflicting objectives. This research proposes a multi-objective evolutionary neural network approach to developing controllers for swarms of robots. The swarm robot controllers are trained in a…
Enforcing safety for dynamical systems is challenging, since it requires constraint satisfaction along trajectory predictions. Equivalent control constraints can be computed in the form of sets that enforce positive invariance, and can thus…
This paper explores the capability of deep neural networks to capture key characteristics of vehicle dynamics, and their ability to perform coupled longitudinal and lateral control of a vehicle. To this extent, two different artificial…
Robot programming typically makes use of a set of mechanical skills that is acquired by machine learning. Because there is in general no guarantee that machine learning produces robot programs that are free of surprising behavior, the safe…
Combining model-based and model-free learning systems has been shown to improve the sample efficiency of learning to perform complex robotic tasks. However, dual-system approaches fail to consider the reliability of the learned model when…
Human dexterity is an invaluable capability for precise manipulation of objects in complex tasks. The capability of robots to similarly grasp and perform in-hand manipulation of objects is critical for their use in the ever changing human…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
Industries such as flexible manufacturing and home care will be transformed by the presence of robotic assistants. Assurance of safety and functional soundness for these robotic systems will require rigorous verification and validation. We…
Process control and optimization have been widely used to solve decision-making problems in chemical engineering applications. However, identifying and tuning the best solution algorithm is challenging and time-consuming. Machine learning…
Testing on real machines is indispensable for robotic control algorithms. In the context of learning-based algorithms, especially VLA models, demand for large-scale evaluation, i.e. testing a large number of models on a large number of…
The quality and correct functioning of software components embedded in electronic systems are of utmost concern especially for safety and mission-critical systems. Model-based testing and formal verification techniques can be employed to…
Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test…
This paper presents the validation of shared control strategies for critical maneuvers in automated driving systems. Shared control involves collaboration between the driver and automation, allowing both parties to actively engage and…
In glass bottle manufacturing, precise control of forming machines is critical for ensuring quality and minimizing defects. This study presents a deep learning-based control algorithm designed to optimize the forming process in real…
Interest in designing, manufacturing, and using autonomous robots has been rapidly growing during the most recent decade. The main motivation for this interest is the wide range of potential applications these autonomous systems can serve…
Fast and precise robot motion is needed in certain applications such as electronic manufacturing, additive manufacturing and assembly. Most industrial robot motion controllers allow externally commanded motion profile, but the trajectory…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…