相关论文: A ROS2-based software library for inverse dynamics…

Simulators play a critical role in aerial robotics both in and out of the classroom. We present RotorPy, a simulation environment written entirely in Python intentionally designed to be a lightweight and accessible tool for robotics…

We consider the problem of generating motion plans for a robot that are guaranteed to succeed despite uncertainty in the environment, parametric model uncertainty, and disturbances. Furthermore, we consider scenarios where these plans must…

Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed. The performance degradation is caused by…

In this paper, we introduce ChoiRbot, a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in…

Model predictive controllers use dynamics models to solve constrained optimal control problems. However, computational requirements for real-time control have limited their use to systems with low-dimensional models. Nevertheless,…

Data-driven inverse optimization for mixed-integer linear programs (MILPs), which seeks to learn an objective function and constraints consistent with observed decisions, is important for building accurate mathematical models in a variety…

Nowadays, realistic simulation environments are essential to validate and build reliable robotic solutions. This is particularly true when using Reinforcement Learning (RL) based control policies. To this end, both robotics and RL…

The open source ALPS (Algorithms and Libraries for Physics Simulations) project provides a collection of physics libraries and applications, with a focus on simulations of lattice models and strongly correlated systems. The libraries…

It is a common problem in robotics to specify the position of each joint of the robot so that the endpoint reaches a certain target in space. This can be solved in two ways, forward kinematics method and inverse kinematics method. However,…

In this paper we present a framework that allows the motion control of a robotic arm automatically handling different kinds of safety-related tasks. The developed controller is based on a Task-Priority Inverse Kinematics algorithm that…

The inverse approach is computationally efficient in aerodynamic design as the desired target performance distribution is prespecified. However, it has some significant limitations that prevent it from achieving full efficiency. First, the…

Software architecture related issues are important for robotic systems. Architecture centric development and evolution of software for robotic systems has been attracting researchers attention for more than two decades. The objective of…

Simulation is crucial in real-world robotics, offering safe, scalable, and efficient environments for developing applications, ranging from humanoid robots to autonomous vehicles and drones. While the Robot Operating System (ROS) has been…

The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…

A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…

A comprehensive approach for real-time computations using a database of parameterized linear reduced-order models (ROMs) is proposed. The method proceeds by sampling offline ROMs for specific values of the parameters and interpolating…

The solution and implementation of the inverse kinematics computation of a three degree-of-freedom (DOF) robot manipulator using an algorithm for real quantifier elimination with Comprehensive Gr\"obner Systems (CGS) are presented. The…

Efficient robot dynamics simulation is a fundamental problem key for robot control, identification, design and analysis. This research statement explores my current progress in this field and future research directions.

In this paper, we investigate the inverse quasi-variational inequality problem in finite-dimensional spaces. First, we introduce a second-order dynamical system whose trajectory converges exponentially to the solution of the inverse…

Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…