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ICRA 2023

1655 papers · 0 AI summaries · 2023

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1639 result(s) for “Optimization and Optimal Control” Page 7 of 33
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Real-Time Model Predictive Control for Industrial Manipulators with Singularity-Tolerant Hierarchical Task Control
Jaemin Lee, Mingyo Seo, Andrew Bylard, Zhouwen Sun, Luis Sentis
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Wi-Closure: Reliable and Efficient Search of Inter-Robot Loop Closures Using Wireless Sensing
Weiying Wang, Anne Kemmeren, Daniel Son, Javier Alonso-Mora, Stephanie Gil
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Failure Detection and Fault Tolerant Control of a Jet-Powered Flying Humanoid Robot
Gabriele Nava, Daniele Pucci
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A Robotic End-Effector for Screwing and Unscrewing Bolts from the Side
Tao, Rui,fan, junfeng,Jing, Fengshui,Hou, Jun,Xing, Shiyu,Ma, Yunkai,Tan, Min
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Discrete-Time Model Based Control of Soft Manipulator with FBG Sensing
Enrico Franco, Ayhan Aktas, Shen Treratanakulchai, Arnau Garriga-Casanovas, Abdulhamit Donder, Ferdinando Rodriguez y Baena
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SHAIL: Safety-Aware Hierarchical Adversarial Imitation Learning for Autonomous Driving in Urban Environments
Arec Jamgochian, Etienne Buehrle, Johannes Fischer, Mykel Kochenderfer
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Foot Gestures to Control the Grasping of a Surgical Robot
YIJUN CHENG, yanpei huang, Ziwei Wang, etienne burdet
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Passivity-Based Decentralized Control for Collaborative Grasping of Under-Actuated Aerial Manipulators
Jinyeong Jeong, Min Jun Kim
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Safe Model-Based Control from Signal Temporal Logic Specifications Using Recurrent Neural Networks
Wenliang Liu, Mirai Duintjer Tebbens Nishioka, Calin Belta
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Tumbling Robot Control Using Reinforcement Learning
Andrew Schwartzwald, Matthew Tlachac, Luis Guzman, Athanasios Bacharis, Nikos Papanikolopoulos
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Event-Based Real-Time Moving Object Detection Based on IMU Ego-Motion Compensation
Chunhui Zhao, Yakun Li, Yang Lyu
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Autonomous Control for Orographic Soaring of Fixed-Wing UAVs
Tom Suys, Sunyou Hwang, Guido de Croon, Bart Remes
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Risk-Aware Neural Navigation from BEV Input for Interactive Driving
Suzanna Jiwani, Xiao Li, Sertac Karaman, Daniela Rus
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Safety under Uncertainty: Tight Bounds with Risk-Aware Control Barrier Functions
Mitchell Black, Georgios Fainekos, Bardh Hoxha, Danil Prokhorov, Dimitra Panagou
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Automatically Deployable Robust Control of Modular Reconfigurable Robot Manipulators
Carlo Nainer, Andrea Giusti
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Adaptive Cooperative Control for Human-Robot Load Manipulation
Carlos Rodríguez de Cos, Dimos V. Dimarogonas
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Curvature-Aware Model Predictive Contouring Control
Lorenzo Lyons, Laura Ferranti
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Torque Control with Joints Position and Velocity Limits Avoidance
Venus Pasandi, Daniele Pucci
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Model Based Position Control of Soft Hydraulic Actuators
Mark Runciman, Enrico Franco, James Avery, Ferdinando Rodriguez y Baena, George Mylonas
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Learning Continuous Control Policies for Information-Theoretic Active Perception
Pengzhi Yang, YUHAN LIU, Shumon Koga, Arash Asgharivaskasi, Nikolay Atanasov
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Toward Fine Contact Interactions: Learning to Control Normal Contact Force with Limited Information
Jinda Cui, Jiawei Xu, David Saldaña, Jeff Trinkle
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Error-Domain Conservativity Control to Transparently Increase the Stability Range of Time-Discretized Controllers
Michael Rothammer, Jee-Hwan Ryu
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RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control
Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles Loop, Alexander Schwing, Stan Birchfield
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An Energy Based Control Architecture for Shared Autonomy
Federico Benzi, Federica Ferraguti, Giuseppe Riggio, Cristian Secchi
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Shared Control of Assistive Robots through User-Intent Prediction and Hyperdimensional Recall of Reactive Behavior
Alisha Menon, Laura I. Galindez Olascoaga, Vamshi Balanaga, Anirudh Natarajan, Jennifer Ruffing, Ryan Ardalan, Jan M. Rabaey
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Velocity Following Control of a Pseudo-Driven Wheel for Reducing Internal Forces between Wheels
Huanan Qi, Liang Ding, Bo You, Lan Huang, Xin An, Shu Li, Guangjun Liu
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Data-Association-Free Landmark-based SLAM
Yihao Zhang, Odin Aleksander Severinsen, John Leonard, Luca Carlone, Kasra Khosoussi
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Towards Exact Interaction Force Control for Underactuated Quadrupedal Systems with Orthogonal Projection and Quadratic Programming
Shengzhi Wang, Xiangyu CHU, K. W. Samuel Au
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Foot Stepping Algorithm of Humanoids with Double Support Time Adjustment Based on Capture Point Control
Myeong-Ju Kim, Daegyu Lim, Gyeongjae Park, Jaeheung Park
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Adaptive Tracking Control with Uncertainty-Aware and State-Dependent Feedback Action Blending for Robot Manipulators
Xuwei Wu, Annika Kirner, Gianluca Garofalo, Christian Ott, Paul Kotyczka, Alexander Dietrich
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Control of Rough Terrain Vehicles Using Deep Reinforcement Learning
Viktor Wiberg, Erik Wallin, Tomas Nordfjell, Martin Servin
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Socially Fair Coverage Control
Matthew Malencia, George J. Pappas, Vijay Kumar
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Integrated Vector Field and Backstepping Control for Quadcopters
Arthur Henrique Dias Nunes, Guilherme V. Raffo, Luciano Pimenta
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Reinforcement Learning for Laser Welding Speed Control Minimizing Bead Width Error
Toshimitsu Kaneko, Gaku Minamoto, Yusuke Hirose, Tetsuo Sakai
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Visual-Inertial Odometry with Online Calibration of Velocity-Control Based Kinematic Motion Models
Haolong Li, Joerg Stueckler
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Robotic Fiber Threading from a Gel-Like Substance Based on Impedance Control with Force Tracking
Houari Bettahar, P. A. Diluka Harischandra, Quan Zhou
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ROFT: Real-Time Optical Flow-Aided 6D Object Pose and Velocity Tracking
Nicola Agostino Piga, Yuriy Onyshchuk, Giulia Pasquale, Ugo Pattacini, Lorenzo Natale
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Enforcing Safety for Vision-Based Controllers Via Control Barrier Functions and Neural Radiance Fields
Mukun Tong, Charles Dawson, Chuchu Fan
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Energy Aware Impedance Control of a Flying End-Effector in the Port-Hamiltonian Framework
Ramy Rashad, Davide Bicego, Jelle Zult, Santiago Sanchez-Escalonilla, Ran Jiao, Antonio Franchi, Stefano Stramigioli
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Design and Development of a Hydrogel-Based Soft Sensor for Multi-Axis Force Control
Yichen Cai, David Hardman, Fumiya Iida, Thomas George Thuruthel
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Contact Force Control with Continuously Compliant Robotic Legs
Robin Bendfeld, C. David Remy
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Exploiting Intrinsic Kinematic Null Space for Supernumerary Robotic Limbs Control
Tommaso Lisini Baldi, Nicole D'Aurizio, Sergio Gurgone, Daniele Borzelli, Andrea d'Avella, Domenico Prattichizzo
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Markovian Transparency Control of an Exoskeleton Robot
Felix M Escalante, Leonardo Felipe dos Santos, Yecid Moreno, Adriano Siqueira, Marco Henrique Terra, Thiago Boaventura
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Closed-Loop Motion Control of Robotic Swarms � a Tether-Based Strategy
Eshaghi, Kasra,Rogers, Andrew,Nejat, Goldie,Benhabib, Beno
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Efficient Planning of Multi-Robot Collective Transport Using Graph Reinforcement Learning with Higher Order Topological Abstraction
Steve Paul, Wenyuan Li, Brian Smyth, Yuzhou Chen, Yulia Gel, Souma Chowdhury
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DexGrasp: Dexterous Multi-Finger Grasp Generation through Differentiable Simulation
Dylan Turpin, Tao Zhong, Shutong Zhang, Guanglei Zhu, Eric Heiden, Miles Macklin, Stavros Tsogkas, Sven Dickinson, Animesh Garg
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High-Speed Scooping: An Implementation through Stiffness Control and Direct-Drive Actuation
Ka Hei Mak, PU XU, Jungwon Seo
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Image-Based Visual Servoing Switchable Leader-Follower Control of Heterogeneous Multi-Agent Underwater Robot System
kanzhong yao, Nathalie Bauschmann, Thies Lennart Alff, Wei Cheah, Daniel Andre Duecker, Keir Groves, Ognjen Marjanovic, Simon Watson
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Context-Aware Robot Control Using Gesture Episodes
Petr Vanc, Jan Kristof Behrens, Karla Stepanova
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A Hybrid Quadratic Programming Framework for Real-Time Embedded Safety-Critical Control
Ryan Bena, Sushmit Hossain, Buyun Chen, Wei Wu, Quan Nguyen
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