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ICRA 2023

1655 papers · 0 AI summaries · 2023

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1642 result(s) for “Multi-Contact Whole-Body Motion Planning and Control” Page 8 of 33
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Reinforcement Learning for Safe Robot Control Using Control Lyapunov Barrier Functions
Desong Du, Shaohang Han, Naiming Qi, Haitham Bou Ammar, Jun Wang, Wei Pan
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A New Robust Control Framework for Robot Manipulators without Velocity Measurements: A Modified Dual-Loop Control Scheme
Hae Yeon Park, Jung Hoon Kim
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Hybrid Half-Gaussian Selectively Adaptive Fuzzy Control of an Actuated Ankle Foot-Orthosis
Huiseok MOON, Roshni Maiti, Kaushik Das Sharma, Yacine Amirat, Patrick Siarry, Samer Mohammed
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Data-Driven Iterative Optimal Control for Switched Dynamical Systems
Yuqing Chen, Yangzhi Li, David Braun
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A Probabilistic Model of Activity Recognition with Loose Clothing
Tianchen Shen, Irene Di Giulio, Matthew Howard
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Scalable Task-Driven Robotic Swarm Control Via Collision Avoidance and Learning Mean-Field Control
Kai Cui, Mengguang Li, Christian Fabian, Heinz Koeppl
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Novel Spring Mechanism Enables Iterative Energy Accumulation under Force and Deformation Constraints
Cole Dempsey, David Braun
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Topological Trajectory Prediction with Homotopy Classes
Jennifer Wakulicz, Ki Myung Brian Lee, Teresa A. Vidal-Calleja, Robert Fitch
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Collaborative Control Based on Payload Leading for Multi-Quadrotors Transportation Systems
Yuan Ping, Mingming Wang, Juntong Qi, Chong Wu, Jinjin Guo
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Energy-Based Design Optimization of a Miniature Wave-Like Robot Inside Curved Compliant Tubes
Rotem Katz, Dan Shachaf, David Zarrouk
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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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D2CoPlan: A Differentiable Decentralized Planner for Multi-Robot Coverage
Vishnu Sharma, Lifeng Zhou, Pratap Tokekar
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Deep Unsupervised Visual Odometry Via Bundle Adjusted Pose Graph Optimization
Guoyu Lu
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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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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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Distributed Barrier Function-Enabled Human-In-The-Loop Control for Multi-Robot Systems
Victor Nan Fernandez-Ayala, Xiao Tan, Dimos V. Dimarogonas
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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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Task-Space Clustering for Mobile Manipulator Task Sequencing
Quang-Nam Nguyen, Nicholas Adrian, Quang-Cuong Pham
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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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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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Chance-Constrained Iterative Linear-Quadratic Stochastic Games
Hai Zhong, Yutaka Shimizu, Jianyu Chen
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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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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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On Legible and Predictable Robot Navigation in Multi-Agent Environments
Jean-Luc Bastarache, Christopher Nielsen, Stephen L. Smith
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Distributed Model Predictive Formation Control with Gait Synchronization for Multiple Quadruped Robots
Shaohang Xu, Wentao Zhang, Lijun Zhu, Chin Pang Ho
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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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Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots
John Irvin Alora, Mattia Cenedese, Edward Schmerling, George Haller, Marco Pavone
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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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Neural Optimal Control Using Learned System Dynamics
Kazim Selim Engin, Volkan Isler
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ASRO-DIO: Active Subspace Random Optimization Based Depth Inertial Odometry
Jiazhao Zhang, Yijie Tang, He Wang, Kai Xu
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ORORA: Outlier-Robust Radar Odometry
HYUNGTAE LIM, Kawon Han, Gunhee Shin, Giseop Kim, Songcheol Hong, Hyun Myung
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Variable Admittance Interaction Control of UAVs Via Deep Reinforcement Learning
Yuting Feng, Chuanbeibei Shi, Jianrui Du, Yushu Yu, Fuchun Sun, Yixu Song
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Event-Triggered Optimal Formation Tracking Control Using Reinforcement Learning for Large-Scale UAV Systems
Ziwei Yan, Liang Han, Xiaoduo Li, Jinjie Li, Zhang Ren
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Trajectory and Sway Prediction towards Fall Prevention
Weizhuo Wang, Michael Raitor, Steven H. Collins, Karen Liu, Monroe Kennedy
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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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Start State Selection for Control Policy Learning from Optimal Trajectories
Christoph Zelch, Jan Peters, Oskar von Stryk
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Statics and Dynamics of Continuum Robots Based on Cosserat Rods and Optimal Control Theories
Frédéric Boyer, Vincent Lebastard, Fabien Candelier, Federico Renda, Mazen Alamir
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Controlling an Underactuated AUV As an Inverted Pendulum Using Nonlinear Model Predictive Control and Behavior Trees
Sriharsha Bhat, Ivan Stenius
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