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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 5 of 47
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Convex Geometric Trajectory Tracking Using Lie Algebraic MPC for Autonomous Marine Vehicles
Junwoo Jang, Sangli Teng, Maani Ghaffari
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Learning-Based Risk-Bounded Path Planning Under Environmental Uncertainty
Fei Meng, Liangliang Chen, Han Ma, Jiankun Wang, Max Q.-H. Meng
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Online Minimization of the Robot Silhouette Viewed from Eye-to-Hand Camera
Giovanni Cortigiani, Bernardo Brogi, Alberto Villani, Tommaso Lisini Baldi, Nicole D'Aurizio, Domenico Prattichizzo
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Redundancy Resolution at Position Level
Alin Albu-Schäffer, Arne Sachtler
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Quasi-static Path Planning for Continuum Robots by Sampling on Implicit Manifold
Yifan Wang, Yue Chen
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Occluded Part-Aware Graph Convolutional Networks for Skeleton-Based Action Recognition
Min Hyuk Kim, Min Ju Kim, Seok Bong Yoo
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A Personalizable Controller for the Walking Assistive omNi-Directional Exo-Robot (WANDER)
Andrea Fortuna, Marta Lorenzini, Mattia Leonori, Juan M. Gandarias, Pietro Balatti, Younggeol Cho, Elena De Momi, Arash Ajoudani
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Learning Diverse Skills for Local Navigation under Multi-Constraint Optimality
Jin Cheng, Marin Vlastelica, Pavel Kolev, Chenhao Li, Georg Martius
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Magnetic-Guided Flexible Origami Robot Toward Long-Term Phototherapy of H. Pylori in the Stomach
Sishen Yuan, baijia liang, Po Wa Wong, Mingjing Xu, Chi Hsuan Li, Zhen Li, Hongliang Ren
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RBI-RRT*: Efficient Sampling-Based Path Planning for High-Dimensional State Space
Fang Chen, Yu Zheng, Zheng Wang, Wanchao Chi, Sicong LIU
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Safety-Aware Perception for Autonomous Collision Avoidance in Dynamic Environments
Ryan Bena, Chongbo Zhao, Quan Nguyen
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Interactive Joint Planning for Autonomous Vehicles
Yuxiao Chen, Sushant Veer, Peter Karkus, Marco Pavone
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Co-Designing Manipulation Systems Using Task-Relevant Constraints
Apoorv Vaish, Oliver Brock
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A Trajectory-Based Flight Assistive System for Novice Pilots in Drone Racing Scenario
Yuhang Zhong, Guangyu Zhao, Qianhao Wang, Guangtong Xu, Chao Xu, Fei Gao
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Uncertainty-Aware Shape Estimation of a Surgical Continuum Manipulator in Constrained Environments Using Fiber Bragg Grating Sensors
Alexander Schwarz, Arian Mehrfard, Golchehr Amirkhani, Henry Phalen, Justin Ma, Robert Grupp, Alejandro Martin-Gomez, Mehran Armand
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Learning Adaptive Safety for Multi-Agent Systems
Luigi Berducci, Shuo Yang, Rahul Mangharam, Radu Grosu
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Trust-Aware Motion Planning for Human-Robot Collaboration under Distribution Temporal Logic Specifications
Pian Yu, Shuyang Dong, Shili Sheng, Lu Feng, kwiatkowska_floc18_4YQkwtC9 Kwiatkowska
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Uncertainty-Aware Hybrid Paradigm of Nonlinear MPC and Model-Based RL for Offroad Navigation: Exploration of Transformers in the Predictive Model
Faraz Lotfi, Khalil Virji, Farnoosh Faraji, Lucas Berry, Andrew Holliday, David Paul Meger, Gregory Dudek
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2D-3D Object Shape Alignment for Camera-Object Pose Compensation in Object-Visual SLAM
Hanyeol Lee, Jaehyung Jung, Chan Gook Park
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Spectral Trade-Off for Measurement Sparsification of Pose-Graph SLAM
Jiyeon Nam, Soojeong Hyeon, YOUNGJUN JOO, DongKi Noh, Hyungbo Shim
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X-ICP: Localizability-Aware LiDAR Registration for Robust Localization in Extreme Environments
Turcan Tuna, Julian Nubert, Yoshua Alfredo Nava Chocrón, Shehryar Khattak, Marco Hutter
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Active Neural Topological Mapping for Multi-Agent Exploration
Xinyi Yang, Yuxiang Yang, Chao Yu, Jiayu Chen, Yu Jincheng, Haibing Ren, Huazhong Yang, Yu Wang
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Pay Attention to How You Drive: Safe and Adaptive Model-Based Reinforcement Learning for Off-Road Driving
Sean J. Wang, Honghao Zhu, Aaron M. Johnson
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Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots
Martin Schonger, Hugo Tadashi Kussaba, Lingyun Chen, Luis Figueredo, Abdalla Swikir, Aude Billard, Sami Haddadin
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Thermal Voyager: A Comparative Study of RGB and Thermal Cameras for Night-Time Autonomous Navigation
Aditya NG, Dhruval PB, Jehan Shalabi, Shubhankar Jape, Xueji Wang, Zubin Jacob
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High-Dimensional Controller Tuning through Latent Representations
Alireza Sarmadi, Farshad Khorrami, Prashanth Krishnamurthy
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Generalizing Trajectory Retiming to Quadratic Objective Functions
Gerry Chen, Frank Dellaert, Seth Hutchinson
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Efficient and Consistent Bundle Adjustment on Lidar Point Clouds
Zheng Liu, Xiyuan Liu, Fu Zhang
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Probabilistic Motion Planning and Prediction Via Partitioned Scenario Replay
Oscar de Groot, Anish Sridharan, Javier Alonso-Mora, Laura Ferranti
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Distributionally Robust CVaR-Based Safety Filtering for Motion Planning in Uncertain Environments
Sleiman Safaoui, Tyler Summers
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Fast Wheeled Driving to Legged Leaping Onto a Step in a Leg-Wheel Transformable Robot
Zhi-Ren Chen, Wei-Shun Yu, Pei-Chun Lin
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Humanoid Loco-Manipulations Using Combined Fast Dense 3D Tracking and SLAM with Wide-Angle Depth-Images
Kevin Chappellet, Masaki Murooka, Guillaume Caron, Fumio Kanehiro, Abderrahmane Kheddar
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Estimating Material Properties of Interacting Objects Using Sum-GP-UCB
Muhammet Yunus Seker, Oliver Kroemer
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Approximate Multiagent Reinforcement Learning for On-Demand Urban Mobility Problem on a Large Map
Daniel Garces, Sushmita Bhattacharya, Dimitri Bertsekas, Stephanie Gil
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Toward Mass Customization of a Robot's Morphology Design for Improving Area Coverage
Viraj Jagathpriya Muthugala Muthugala Arachchige, Bhagya Prasangi Samarakoon Samarakoon Mudiyanselage, RAIHAN ENJIKALAYIL ABDULKADER, Mohan Rajesh Elara
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Real-time Dynamic-consistent Motion Planning for Over-Actuated UAVs
Yao Su, Jingwen Zhang, Ziyuan Jiao, Hang Li, Meng Wang, Hangxin Liu
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Integrated Data-Driven Inference and Planning-Based Human Motion Prediction for Safe Human-Robot Interaction
Youngim Nam, Cheolhyeon Kwon
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A Kinetostatic Model for Concentric Push-Pull Robots
Jake Childs, Caleb Rucker
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Morphological Design for Pneumatic Soft Actuators and Robots with Desired Deformation Behavior
Feifei Chen, Zenan Song, Shitong Chen, Guoying Gu, Xiangyang Zhu
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Certifying Bimanual RRT Motion Plans in a Second
Alexandre Amice, Peter Werner, Russ Tedrake
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17-Point Algorithm Revisited: Toward a More Accurate Way
Chen Xie, Rui Xing, Ning Hao, Fenghua He
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RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments
Zhiqiang Chen, Hongbo Chen, Yuhua Qi, Shipeng Zhong, Dapeng Feng, Wu Jin, Weisong Wen, Ming Liu
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Enhancing Dexterity in Robotic Manipulation Via Hierarchical Contact Exploration
Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, Matthew T. Mason
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Unwieldy Object Delivery with Nonholonomic Mobile Base: A Stable Pushing Approach
Yujie Tang, Hai Zhu, Susan Potters, Martijn Wisse, Wei Pan
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ZAPP! Zonotope Agreement of Prediction and Planning for Continuous-Time Collision Avoidance with Discrete-Time Dynamics
Luca Paparusso, Shreyas Kousik, Edward Schmerling, Francesco Braghin, Marco Pavone
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Robotic Manipulation of Hand Tools: The Case of Screwdriving
Ling Tang, Yan-Bin Jia, Yuechuan Xue
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Observer-Based Controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform
Hemjyoti Das, Minh Nhat Vu, Tobias Egle, Christian Ott
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Design and Testing of a Multi-Module, Tetherless, Soft Robotic Eel
Robin Hall, Gabriel Espinosa, Shou-Shan Chiang, Cagdas Onal
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PL-EVIO: Robust Monocular Event-Based Visual Inertial Odometry with Point and Line Features
Weipeng Guan, Peiyu Chen, Yuhan XIE, Peng Lu
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Visual-Tactile Learning of Garment Unfolding for Robot-Assisted Dressing
Fan Zhang, Yiannis Demiris
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