相关论文: Dynamic Simulation of Construction Machinery: Towa…
Model-Based Reinforcement Learning involves learning a \textit{dynamics model} from data, and then using this model to optimise behaviour, most often with an online \textit{planner}. Much of the recent research along these lines presents a…
Building simulation environments for developing and testing autonomous vehicles necessitates that the simulators accurately model the statistical realism of the real-world environment, including the interaction with other vehicles driven by…
Dynamical models of wireless power transfer (WPT) systems are of primary importance for the dynamical behavior studies and controller design. However, the existing dynamical models usually suffer from high orders and complicated forms due…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
Turn-taking behaviour is simulated in a coupled agents system. Each agent is modelled as a mobile robot with two wheels. A recurrent neural network is used to produce the motor outputs and to hold the internal dynamics. Agents are developed…
A mechanical system can be optimally controlled through continuous measurements of its position followed by feedback. We revisit the complete formalism for predicting the performance of such as system without invoking the standard rotating…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
A fair simple car driving simulator was created based on the open source engine TORCS and used in car-following experiments aimed at studying the basic features of human behavior in car driving. Four subjects with different skill in driving…
We built a multiagent simulation of urban traffic to model both ordinary traffic and emergency or crisis mode traffic. This simulation first builds a modeled road network based on detailed geographical information. On this network, the…
Network load balancers are central components in data centers, that distributes workloads across multiple servers and thereby contribute to offering scalable services. However, when load balancers operate in dynamic environments with…
Most computer simulations of molecular dynamics take place under equilibrium conditions--in a closed, isolated system, or perhaps one held at constant temperature or pressure. Sometimes, extra tensions, shears, or temperature gradients are…
Simulation is used extensively in autonomous systems, particularly in robotic manipulation. By far, the most common approach is to train a controller in simulation, and then use it as an initial starting point for the real system. We…
Many biological phenomena such as locomotion, circadian cycles, and breathing are rhythmic in nature and can be modeled as rhythmic dynamical systems. Dynamical systems modeling often involves neglecting certain characteristics of a…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
A properly designed controller can help improve the quality of experimental measurements or force a dynamical system to follow a completely new time-evolution path. Recent developments in deep reinforcement learning have made steep advances…
Teleoperation is vital in the construction industry, allowing safe machine manipulation from a distance. However, controlling machines at a joint level requires extensive training due to their complex degrees of freedom. Task space control…
During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
With increasing automation in passenger vehicles, the study of safe and smooth occupant-vehicle interaction and control transitions is key. In this study, we focus on the development of contextual, semantically meaningful representations of…
It is widely acknowledged that drivers should remain in the control loop of automated vehicles before they completely meet real-world operational conditions. This paper introduces an `indirect shared control' scheme for steer-by-wire…