相关论文: Behavioral Data-Driven Optimal Trajectory Generati…

We propose a vision-based reinforcement learning (RL) approach for closed-loop trajectory generation in an arm reaching problem. Arm trajectory generation is a fundamental robotics problem which entails finding collision-free paths to move…

We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…

In drone racing, the time-minimum trajectory is affected by the drone's capabilities, the layout of the race track, and the configurations of the gates (e.g., their shapes and sizes). However, previous studies neglect the configuration of…

In this paper, we describe a robust multi-drone planning framework for high-speed trajectories in large scenes. It uses a free-space-oriented map to free the optimization from cumbersome environment data. A capsule-like safety constraint is…

By framing reinforcement learning as a sequence modeling problem, recent work has enabled the use of generative models, such as diffusion models, for planning. While these models are effective in predicting long-horizon state trajectories…

This paper studies finite-horizon robust tracking control for discrete-time linear systems, based on input-output data. We leverage behavioral theory to represent system trajectories through a set of noiseless historical data, instead of…

In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-control solution to time-optimal planning/control of dynamic…

Offline reinforcement learning (RL) aims at learning policies from previously collected static trajectory data without interacting with the real environment. Recent works provide a novel perspective by viewing offline RL as a generic…

The autonomous formation flight of fixed-wing drones is hard when the coordination requires the actuation over their speeds since they are critically bounded and aircraft are mostly designed to fly at a nominal airspeed. This paper proposes…

Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…

We propose a data-driven control method for systems with aleatoric uncertainty, for example, robot fleets with variations between agents. Our method leverages shared trajectory data to increase the robustness of the designed controller and…

Tendon-Driven Continuum Robots (TDCRs) pose significant modeling and control challenges due to complex nonlinearities, such as frictional hysteresis and transmission compliance. This paper proposes a differentiable learning framework that…

Advanced vehicle control is a fundamental building block in the development of autonomous driving systems. Reinforcement learning (RL) promises to achieve control performance superior to classical approaches while keeping computational…

Bird-sized flapping-wing robots offer significant potential for agile flight in complex environments, but achieving agile and robust trajectory tracking remains a challenge due to the complex aerodynamics and highly nonlinear dynamics…

This paper studies worst-case robust optimal tracking using noisy input-output data. We utilize behavioral system theory to represent system trajectories, while avoiding explicit system identification. We assume that the recent output data…

Existing approaches to trajectory planning for autonomous racing employ sampling-based methods, generating numerous jerk-optimal trajectories and selecting the most favorable feasible trajectory based on a cost function penalizing…

The dramatic increase of observational data across industries provides unparalleled opportunities for data-driven decision making and management, including the manufacturing industry. In the context of production, data-driven approaches can…

Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…

Accurately predicting the dynamics of robotic systems is crucial for model-based control and reinforcement learning. The most common way to estimate dynamics is by fitting a one-step ahead prediction model and using it to recursively…

The state-of-the-art in wind-farm flow-physics modeling is Large Eddy Simulation (LES) which makes accurate predictions of most relevant physics, but requires extensive computational resources. The next-fidelity model types are…