相关论文: Dual Control Reference Generation for Optimal Pick…

Many realistic robotics tasks are best solved compositionally, through control architectures that sequentially invoke primitives and achieve error correction through the use of loops and conditionals taking the system back to alternative…

Efficient planning in high-dimensional spaces, such as those involving deformable objects, requires computationally tractable yet sufficiently expressive dynamics models. This paper introduces a method that automatically generates…

Dynamic task allocation is an essential requirement for multi-robot systems operating in unknown dynamic environments. It allows robots to change their behavior in response to environmental changes or actions of other robots in order to…

Designing controllers under uncertainty requires balancing the need to explore system dynamics with the requirement to maintain reliable control performance. Dual control addresses this challenge by selecting actions that both regulate the…

Robust control of mechanical systems with multiple uncertainties remains a fundamental challenge, particularly when nonlinear dynamics and operating-condition variations are intricately intertwined. Although deep reinforcement learning…

This article addresses the problem of data-driven numerical optimal control for unknown nonlinear systems. In our scenario, we suppose to have the possibility of performing multiple experiments (or simulations) on the system. Experiments…

Trajectory optimization is a fundamental problem in robotics. While optimization of continuous control trajectories is well developed, many applications require both discrete and continuous, i.e., hybrid, controls. Finding an optimal…

Soft robots are well suited for contact-rich tasks due to their compliance, yet this property makes accurate and tractable modeling challenging. Planning motions with dynamically-feasible trajectories requires models that capture arbitrary…

We present a novel strategy for robust dual control of linear time-invariant systems based on gain scheduling with performance guarantees. This work relies on prior results of determining uncertainty bounds of system parameters estimated…

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…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

We propose a general framework for studying optimal impulse control problem in the presence of uncertainty on the parameters. Given a prior on the distribution of the unknown parameters, we explain how it should evolve according to the…

For highly automated driving above SAE level~3, behavior generation algorithms must reliably consider the inherent uncertainties of the traffic environment, e.g. arising from the variety of human driving styles. Such uncertainties can…

In recent years, learning-based control in robotics has gained significant attention due to its capability to address complex tasks in real-world environments. With the advances in machine learning algorithms and computational capabilities,…

Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst-case…

Any strategy used to distribute a robot ensemble over a set of sequential tasks is subject to inaccuracy due to robot-level uncertainties and environmental influences on the robots' behavior. We approach the problem of inaccuracy during…

In this paper, a simple heuristic is proposed for the design of uncertainty aware predictive controllers for nonlinear models involving uncertain parameters. The method relies on Machine Learning-based approximation of ideal deterministic…

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…

We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate models and hard-to-predict environment dynamics. We quantify the importance of…

Robotic perception models, such as Deep Neural Networks (DNNs), are becoming more computationally intensive and there are several models being trained with accuracy and latency trade-offs. However, modern latency accuracy trade-offs largely…