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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 4 of 47
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TPGP: Temporal-Parametric Optimization with Deep Grasp Prior for Dexterous Motion Planning
Haoming Li, Qi Ye, Yuchi Huo, Qingtao Liu, Shijian Jiang, Tao Zhou, Xiang Li, Yang Zhou, Jiming Chen
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CARE: Confidence-Rich Autonomous Robot Exploration Using Bayesian Kernel Inference and Optimization
Yang Xu, Ronghao Zheng, Senlin Zhang, Meiqin Liu, Shoudong Huang
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Fast and Consistent Covariance Recovery for Sliding-Window Optimization-Based VINS
Chuchu Chen, Yuxiang Peng, Guoquan Huang
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6-DOF Grasp Pose Evaluation and Optimization Via Transfer Learning from NeRFs
Gergely Sóti, Xi Huang, Christian Wurll, Björn Hein
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Phasic Diversity Optimization for Population-Based Reinforcement Learning
Jingcheng Jiang, Haiyin Piao, Yu Fu, Yihang Hao, Chuanlu Jiang, Ziqi Wei, Xin Yang
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A Model for Multi-Agent Autonomy That Uses Opinion Dynamics and Multi-Objective Behavior Optimization
Tyler Paine, Michael Benjamin
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Design and Optimization of an Origami-Inspired Foldable Pneumatic Actuator
Huaiyuan Chen, Yiyuan Ma, Weidong Chen
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Trajectory Optimization Strategy That Considers Body Tip-Over Stability, Limb Dynamics, and Motion Continuity in Legged Robots
Kuan-Lun Lu, I-Chia Chang, Wei-Shun Yu, Pei-Chun Lin
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Workstation Suitability Maps: Generating Ergonomic Behaviors on a Population of Virtual Humans with Multi-Task Optimization
Jacques Zhong, Vincent Weistroffer, Jean-Baptiste Mouret, Francis Colas, Pauline Maurice
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6D Pose Estimation Based on 3D Edge Binocular Reprojection Optimization for Robotic Assembly
Dong Li, Quan Mu, Yilin Yuan, Shiwei Wu, Hualin Hong, Ye Tian, Qian Jiang, Fei Liu
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Simulation-Based Approach for Automatic Roadmap Design in Multi-AGV Systems
Tena �u�ek, Rok Vrabič, Andrej Zdesar, Ga�per �kulj, Igor Banfi, Matev� Bo�nak, Viktor Zaletelj, Gregor Klancar
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Reinforcement Learning in a Safety-Embedded MDP with Trajectory Optimization
Fan Yang, Wenxuan Zhou, Zuxin Liu, DING ZHAO, David Held
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Actor-Critic Model Predictive Control
Angel Romero, Yunlong Song, Davide Scaramuzza
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ConBaT: Control Barrier Transformer for Safe Robot Learning from Demonstrations
Yue Meng, Sai Vemprala, Rogerio Bonatti, Chuchu Fan, Ashish Kapoor
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A Distributed Processing Approach for Smooth Task Transitioning in Strict Hierarchical Control
Francesco Tassi, Arash Ajoudani
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Human-Aligned Longitudinal Control for Occluded Pedestrian Crossing With Visual Attention
Vinal Asodia, Zhenhua Feng, Saber Fallah
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An Intuitive Manual Guidance Scheme to Operate Rotation and Translation Simultaneously
Fan Shao, Fanny Ficuciello
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Online-Learning-Based Distributionally Robust Motion Control with Collision Avoidance for Mobile Robots
Han Wang, Chao Ning, longyan Li, Weidong Zhang
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Real-Time Whole-Body Motion Planning for Mobile Manipulators Using Environment-Adaptive Search and Spatial-Temporal Optimization
Chengkai Wu, Ruilin Wang, mianzhi song, Fei Gao, Jie Mei, Boyu Zhou
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Fast Photoacoustic Microscopy with Robot Controlled Microtrajectory Optimization
Yating Luo, Yuxuan Liu, Jiasheng Zhou, Sung-Liang Chen, Yao Guo, Guang-Zhong Yang
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Differentiable Compliant Contact Primitives for Estimation and Model Predictive Control
Kevin Haninger, Kangwagye Samuel, Filippo Rozzi, Sehoon Oh, Loris Roveda
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Sequential Trajectory Optimization for Externally-Actuated Modular Manipulators with Joint Locking
Jaeu Choe, Jeongseob Lee, Hyunsoo Yang, Hai-Nguyen (Hann) Nguyen, Dongjun Lee
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Design and Optimization of a Miniature Locust-Inspired Stable Jumping Robot
Yi Xu, Yanzhou Jin, Weitao Zhang, Yunhao Si, Yulai Zhang, Chang Li, Qing Shi
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Generative Modeling of Residuals for Real-Time Risk-Sensitive Safety with Discrete-Time Control Barrier Functions
Ryan Cosner, Igor Sadalski, Jana Woo, Preston Culbertson, Aaron Ames
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Tightly Coupled Range Inertial Localization on a 3D Prior Map Based on Sliding Window Factor Graph Optimization
Kenji Koide, Shuji Oishi, Masashi Yokozuka, Atsuhiko Banno
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Constrained Hierarchical Monte Carlo Belief-State Planning
Arec Jamgochian, Hugo Buurmeijer, Kyle Wray, Anthony Corso, Mykel Kochenderfer
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Efficient and Accurate Mapping of Subsurface Anatomy Via Online Trajectory Optimization for Robot Assisted Surgery
Brian Y Cho, Alan Kuntz
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Realtime Brain-Inspired Adaptive Learning Control for Nonlinear Systems with Configuration Uncertainties
Yanhui Zhang, zheyu tong, YiFan Zhang, SONG CHEN, Junyuan Yang, Weifang Chen
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Robust and Energy-Efficient Control for Multi-Task Aerial Manipulation with Automatic Arm-Switching
Ying Wu, Zida Zhou, Mingxin Wei, Hui Cheng
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Integrating Predictive Motion Uncertainties with Distributionally Robust Risk-Aware Control for Safe Robot Navigation in Crowds
Kanghyun Ryu, Negar Mehr
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Tight Motion Planning by Riemannian Optimization for Sliding and Rolling with Finite Number of Contact Points
Dror Livnat, Michael M. Bilevich, Dan Halperin
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Safety Optimized Reinforcement Learning Via Multi-Objective Policy Optimization
Homayoun Honari, Mehran Ghafarian Tamizi, Homayoun Najjaran
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Continual Driving Policy Optimization with Closed-Loop Individualized Curricula
Haoyi Niu, Yizhou Xu, Xingjian Jiang, Jianming HU
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A Dragonfly-Inspired Flapping Wing Robot Mimicking Force Vector Control Approach
Fangyuan Liu, Song Li, Jinwu Xiang, Daochun Li, Zhan Tu
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Design and Optimization of a Multimode Amphibious Robot with Propeller-Leg
Xinmeng Ma, Gang Wang, Liu kaixin
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Stepwise Large-Scale Multi-Agent Task Planning Using Neighborhood Search
Fan Zeng, Shouhei Shirafuji, Changxiang Fan, Masahiro Nishio, Jun Ota
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Vertical Vibratory Transport of Grasped Parts Using Impacts
Connor Yako, Jerome Nowak, Shenli Yuan, Kenneth Salisbury
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Weathering Ongoing Uncertainty: Learning and Planning in a Time-Varying Partially Observable Environment
Gokul Puthumanaillam, Xiangyu Liu, Negar Mehr, Melkior Ornik
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Generating Sparse Probabilistic Graphs for Efficient Planning in Uncertain Environments
Yasmin Veys, Martina Stadler, Nicholas Roy
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LORIS: A Lightweight Free-Climbing Robot for Extreme Terrain Exploration
Paul Nadan, Spencer Backus, Aaron M. Johnson
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A Robotic System for Transanal Endoscopic Microsurgery: Design, Dexterity Optimization and Prototyping
Jichen Li, Shuxin Wang, Zhiqiang ZHANG, Chaoyang Shi
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Towards a Unified Approach for Continuously-Variable Impedance Control of Powered Prosthetic Legs Over Walking Speeds and Inclines
Albert Lee, Curt A. Laubscher, T. Kevin Best, Robert D. Gregg
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Lifelong Robot Library Learning: Bootstrapping Composable and Generalizable Skills for Embodied Control with Language Models
Georgios Tziafas, Hamidreza Kasaei
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Model Predictive Control for an Autonomous Underwater Robot with Fully Vectored Propulsion
Tianzhu Gao, Yudong Luo, Chao Lv, Weirong Luo, Xianping Fu, Na Zhao, Xi Luo, Yantao Shen
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HAGrasp: Hybrid Action Grasp Control in Cluttered Scenes Using Deep Reinforcement Learning
Kai-Tai Song, Hsiang-Hsi Chen
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Millimeter-Level Pick and Peg-In-Hole Task Achieved by Aerial Manipulator
Meng Wang, Zeshuai Chen, Kexin Guo, Xiang Yu, Youmin Zhang, Lei Guo, Wei Wang
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A Cross-Entropy Motion Planning Framework for Hybrid Continuum Robots
Jibiao Chen, Junyan Yan, Yufu Qiu, haiyang fang, Jianghua Chen, Shing Shin Cheng
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Do We Run Large-Scale Multi-Robot Systems on the Edge? More Evidence for Two-Phase Performance in System Size Scaling
Jonas Kuckling, Robin Luckey, Viktor Avrutin, Andrew Vardy, Andreagiovanni Reina, Heiko Hamann
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Towards Real-World Efficiency: Domain Randomization in Reinforcement Learning for Pre-Capture of Free-Floating Moving Targets by Autonomous Robots
Bahador Beigomi, ZhengHong (George) Zhu
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Direct Kinematic Singularities and Stability Analysis of Sagging Cable-Driven Parallel Robots
Sébastien Briot, Jean-Pierre Merlet
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