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ICRA 2024

2337 papers · 0 AI summaries · 2024

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2314 result(s) for “Optimization and Optimal Control” Page 3 of 47
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Force Feedback Model-Predictive Control Via Online Estimation
Armand Jordana, Sebastien Kleff, Justin Carpentier, Nicolas Mansard, Ludovic Righetti
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Adaptive Gait Modeling and Optimization for Principally Kinematic Systems
Siming Deng, Noah J. Cowan, Brian Bittner
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MPCGPU: Real-Time Nonlinear Model Predictive Control through Preconditioned Conjugate Gradient on the GPU
Emre Adabag, Miloni Atal, William Gerard, Brian Plancher
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ECDP: Energy Consumption Disaggregation Pipeline for Energy Optimization in Lightweight Robots
Juan Heredia, Robin Jeanne Kirschner, Christian Schlette, Saeed Abdolshah, Sami Haddadin, Kjærgaard Mikkel
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NPC: Neural Predictive Control for Fuel-Efficient Autonomous Trucks
Jiaping Ren, Jiahao Xiang, Hongfei Gao, Jinchuan Zhang, Yiming Ren, Yuexin Ma, Yi Wu, Ruigang Yang, Wei Li
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Shield Model Predictive Path Integral: A Computationally Efficient Robust MPC Method Using Control Barrier Functions
Ji Yin, Charles Dawson, Chuchu Fan, Panagiotis Tsiotras
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Distributed Differential Dynamic Programming Architectures for Large-Scale Multi-Agent Control
Augustinos Saravanos, Yuichiro Aoyama, Hongchang Zhu, Evangelos Theodorou
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Optimal Path Planning for a Convoy-Support Vehicle Pair through a Repairable Network
Abhay Singh Bhadoriya, Christopher Montez, Sivakumar Rathinam, Swaroop Darbha, David Casbeer, Satyanarayana Gupta Manyam
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Adaptive Motion Scaling for Robot-Assisted Microsurgery Based on Hybrid Offline Reinforcement Learning and Damping Control
Peiyang Jiang, Wei Li, Yifan Li, Dandan Zhang
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Interaction Control for Tool Manipulation on Deformable Objects Using Tactile Feedback
HANWEN ZHANG, Zeyu Lu, Wenyu Liang, Haoyong Yu, YAO MAO, Yan Wu
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Active Learning of Discrete-Time Dynamics for Uncertainty-Aware Model Predictive Control
Alessandro Saviolo, Jonathan Frey, Abhishek Rathod, Moritz Diehl, Giuseppe Loianno
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A Probabilistic Model for Cobot Decision Making to Mitigate Human Fatigue in Repetitive Co-Manipulation Tasks
Aya Yaacoub, Vincent Thomas, Francis Colas, Pauline Maurice
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Constrained Nonlinear Disturbance Observer for Robotic Systems
Ji Wan Han, Daehyung Park, Min Jun Kim
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Dual-Mode Human-Robot Collaboration with Guaranteed Safety Using Time-Varying Zeroing Control Barrier Functions and Quadratic Program
Kaige Shi, Guoqiang Hu
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Efficient Model Learning and Adaptive Tracking Control of Magnetic Micro-Robots for Non-Contact Manipulation
Yongyi Jia, Shu Miao, junjian zhou, Niandong Jiao, Lianqing Liu, Xiang LI
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Uncertainty-Aware Reinforcement Learning for Autonomous Driving with Multimodal Digital Driver Guidance
Wenhui Huang, Zitong Shan, Shanhe Lou, Chen Lv
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Adaptive Planning and Control with Time-Varying Tire Models for Autonomous Racing Using Extreme Learning Machine
Dvij Kalaria, Qin Lin, John M. Dolan
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EVOLVER: Online Learning and Prediction of Disturbances for Robot Control
Jindou Jia, Wenyu Zhang, Kexin Guo, Jianliang Wang, Xiang Yu, Yang Shi, Lei Guo
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Risk-Sensitive Extended Kalman Filter
Armand Jordana, Avadesh Meduri, Etienne Arlaud, Justin Carpentier, Ludovic Righetti
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Multi-Agent Path Finding for Cooperative Autonomous Driving
Zhongxia Yan, Han Zheng, Cathy Wu
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SpECULARIA: Towards Fully Autonomous Robotic Indoor Farming System
Marsela Car, Barbara Arbanas Ferreira, Jelena Vuletic, Matko Orsag
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Well-Connected Set and Its Application to Multi-Robot Path Planning
Teng Guo, Jingjin Yu
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Multi-Robot Cooperative Navigation in Crowds: A Game-Theoretic Learning-Based Model Predictive Control Approach
Viet-Anh Le, Vaishnav Tadiparthi, Behdad Chalaki, Hossein Nourkhiz Mahjoub, Jovin D'sa, Ehsan Moradi-Pari, Andreas Malikopoulos
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OptiState: State Estimation of Legged Robots Using Gated Networks with Transformer-Based Vision and Kalman Filtering
Alexander Schperberg, Yusuke Tanaka, Saviz Mowlavi, Feng Xu, Bharathan Balaji, Dennis Hong
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LSTP: Long Short-Term Motion Planning for Legged and Legged-Wheeled Systems
Edo Jelavic, Kaixian Qu, Farbod Farshidian, Marco Hutter
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Optimization and Evaluation of a Multi Robot Surface Inspection Task through Particle Swarm Optimization
Darren Chiu, Radhika Nagpal, Bahar Haghighat
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PPO-Based Dynamic Control of Uncertain Floating Platforms in Zero-G Environment
Mahya Ramezani, Mohammadamin Alandihallaj, Andreas Hein
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Learning-Based Motion Planning with Mixture Density Networks
Yinghan Wang, Jianping He, Xiaoming Duan
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Multi-query TDSP for Path Planning in Time-Varying Flow Fields
James Ju Heon Lee, Chanyeol Yoo, Stuart David Anstee, Robert Fitch
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Relaxed Hover Solution Based Control for a Bi-Copter with Rotor and Servo Stuck Failure
Haixin Zhao, Ruifeng Li, Quan Quan
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Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra
Tobias Löw, Sylvain Calinon
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Optimization of Flexible Bronchoscopy Shape Sensing Using Fiber Optic Sensors
Xinran Liu, Hao Chen, Hongbin Liu
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GPU-Accelerated Optimization-Based Collision Avoidance
Zeming Wu, Zhuping Wang, Hao Zhang
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Safe Risk-Averse Bayesian Optimization for Controller Tuning
Christopher König, Miks Ozols, Anastasiia Makarova, Efe Balta, Andreas Krause, Alisa Rupenyan
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Projection-Based Fast and Safe Policy Optimization for Reinforcement Learning
Shijun Lin, Hao Wang, Ziyang Chen, Zhen Kan
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Differentiable Boustrophedon Paths That Enable Optimization Via Gradient Descent
Thomas Manzini, Robin Murphy
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Symmetric Stair Preconditioning of Linear Systems for Parallel Trajectory Optimization
Xueyi Bu, Brian Plancher
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Agile and Dynamic Standing-up Control for Humanoids using 3D Divergent Component of Motion in Multi-contact Scenario
Grazia Zambella, Robert Schuller, George Mesesan, Antonio Bicchi, Christian Ott, Jinoh Lee
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Generating Environment-Based Explanations of Motion Planner Failure: Evolutionary and Joint-Optimization Algorithms
Qishuai Liu, Martim Brandao
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RoSSO: A High-Performance Python Package for Robotic Surveillance Strategy Optimization Using JAX
Yohan John, Connor Hughes, Gilberto Diaz-Garcia, Jason Marden, Francesco Bullo
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Stable, Safe, and Passive Teleoperation of Multi-Robot Systems
Gennaro Notomista
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FF-LOGO: Cross-Modality Point Cloud Registration with Feature Filtering and Local to Global Optimization
Nan Ma, Mohan Wang, Yiheng Han, Yong-Jin Liu
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Investigating Stability Outcomes across Diverse Gait Patterns in Quadruped Robots: A Comparative Analysis
Zhongjin Ju, Ke Wei, Lei Jin, Yundou Xu
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Wasserstein Distributionally Robust Chance Constrained Trajectory Optimization for Mobile Robots within Uncertain Safe Corridor
Shaohang Xu, Haolin Ruan, Wentao Zhang, Yi'an Wang, Lijun Zhu, Chin Pang Ho
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ExoRecovery: Push Recovery with a Lower-Limb Exoskeleton Based on Stepping Strategy
Zeynep Özge Orhan, Milad Shafiee, Vincent Juillard, Joel Coelho Oliveira, Auke Ijspeert, Mohamed Bouri
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BeBOP -- Combining Reactive Planning and Bayesian Optimization to Solve Robotic Manipulation Tasks
Jonathan Styrud, Matthias Mayr, Erik Hellsten, Volker Krueger, Claes Christian Smith
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Modeling and Control of PADUAV: A Passively Articulated Dual UAVs Platform for Aerial Manipulation
Jiali Sun, Kaidi Wang, Chuanbeibei Shi, Xiujia Li, Xiaojian Yi, Yushu Yu, Fuchun Sun, Yiqun Dong
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HERO-SLAM: Hybrid Enhanced Robust Optimization of Neural SLAM
Zhe Xin, Yufeng Yue, Liangjun Zhang, Chenming Wu
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DMSA - Dense Multi Scan Adjustment for LiDAR Inertial Odometry and Global Optimization
David Skuddis, Norbert Haala
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Learning Covariances for Estimation with Constrained Bilevel Optimization
Mohamad Qadri, Zachary Manchester, Michael Kaess
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