相关论文: Modeling PWM-Time-SOC Interaction in a Simulated R…
Maximizing the utility of human-robot teams in disaster response and search and rescue (SAR) missions remains to be a challenging problem. This is due to the dynamic, uncertain nature of the environment and the variability in cognitive…
Autonomous robots operating in open and changing environments cannot always rely on predefined inputs, outputs, and action routines. Although existing learning methods enable robots to improve their performance through environmental…
Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a comparative study of data-driven system identification methods,…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
In this study we evaluated human-robot collaboration models in an integrated human-robot operational system. An integrated work cell which includes a robotic arm working collaboratively with a human worker was specially designed for…
Over the last few years, sampling-based stochastic optimal control (SOC) frameworks have shown impressive performances in reinforcement learning (RL) with applications in robotics. However, such approaches require a large amount of samples…
Our paper proposes a model predictive controller as a single-task formulation that simultaneously optimizes wheel and torso motions. This online joint velocity and ground reaction force optimization integrates a kinodynamic model of a…
Traditional dynamic models of continuum robots are in general computationally expensive and not suitable for real-time control. Recent approaches using learning-based methods to approximate the dynamic model of continuum robots for control…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
Soft robots are robotic systems made of deformable materials and exhibit unique flexibility that can be exploited for complex environments and tasks. However, their control problem has been considered a challenging subject because they are…
Local or reactive navigation is essential for autonomous mobile robots which operate in an indoor environment. Techniques such as SLAM, computer vision require significant computational power which increases cost. Similarly, using…
Cooperative collision avoidance between robots, or `agents,' in swarm operations remains an open challenge. Assuming a decentralized architecture, each agent is responsible for making its own decisions and choosing its control actions. Most…
Engineered spin-orbit coupling (SOC) in cold atom systems can aid in the study of novel synthetic materials and complex condensed matter phenomena. Despite great advances, alkali atom SOC systems are hindered by heating from spontaneous…
Accurate prediction of battery performance under various ageing conditions is necessary for reliable and stable battery operations. Due to complex battery degradation mechanisms, estimating the accurate ageing level and ageing-dependent…
This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…
Internal computational models of physical bodies are fundamental to the ability of robots and animals alike to plan and control their actions. These "self-models" allow robots to consider outcomes of multiple possible future actions,…
Smart City applications, such as traffic monitoring and disaster response, often use swarms of intelligent and cooperative drones to efficiently collect sensor data over different areas of interest and time spans. However, when the required…
This work investigates the real-time estimation of the state-of-charge (SoC) of Lithium-ion (Li-ion) cells for reliable, safe and efficient utilization. A novel attractive ellipsoid based sliding-mode observer (AESMO) algorithm is designed…
To succeed in the real world, robots must cope with situations that differ from those seen during training. We study the problem of adapting on-the-fly to such novel scenarios during deployment, by drawing upon a diverse repertoire of…
Human-robot co-carrying tasks reveal their potential in both industrial and everyday applications by leveraging the strengths of both parties. Effective control of robots in these tasks requires managing the energy level in the closed-loop…