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Table of Contents
Intro
Preface
Contents
Motion Planning and Control
Design for a Dual-Redundant Flight Control Computer Using a Model Predictive Voting Algorithm
1 Introduction
2 Related Work
3 Methodology
3.1 Dual-Redundant Flight Control Computer System Design
3.2 Model Predictive Voting Algorithm (MPVA)
4 Simulation Results
5 Conclusions
References
TPL: Trajectory Planner for Target Tracking in Low-Light Environments
1 Introduction
2 Related Works
3 Methodology
3.1 System Overview
3.2 Waypoints Generation with Object Detection
3.3 Trajectory Construction
3.4 Tracking Controller
4 Experiment
4.1 Validation of Trajectory Planner and Controller
4.2 Real-World Experiment
5 Result and Discussion
6 Conclusion
References
Design of Foothold Decision Model in Convex Model Predictive Control for Legged Robots
1 Introduction
2 Dynamics and Control
2.1 3D Single Rigid Body Hybrid Model
2.2 Variation-Based Linearization
2.3 Vectorization
2.4 Model Predictive Control
3 Simulational Results
3.1 Comparative Simulation
3.2 Challenging Tasks
4 Conclusion
References
Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control
1 Introduction
1.1 Model Predictive Control
1.2 Reinforcement Learning
2 Methodology
2.1 Overview
2.2 Nonlinear Model Predictive Control
2.3 Learning Footstep Planning Policy
3 Result
3.1 Environment Setup
3.2 Comparison with Heuristic Planner
4 Conclusion
References
Study on Geometry Based Collision Avoidance for Formation Flight by Redefinition of Safety Radius
1 Introduction
2 Guidance Law of Formation Flight
3 Collision Avoidance for Formation Flight
3.1 Obstacle Detection and Estimation
3.2 Redefinition of Safe Radius
3.3 Collision Detection and Avoidance
4 Experiment
4.1 System Configuration
4.2 Flight Experiment
5 Conclusion
Reference
Socially Acceptable Route Planning and Trajectory Behavior Analysis of Personal Mobility Device for Mobility Management with Improved Sensing
1 Introduction
2 Socially Acceptable Global Path Analysis for PMD
2.1 Map Visualization of Shared Space in an Area
2.2 Traffic Flow and Betweenness Centrality (BC) for Finding Out Major Links
2.3 Design Criteria for Selecting Social Acceptable Route
2.4 Cost Function of Links for Global Path Search
2.5 Global Path Analysis
3 Socially Acceptable Local Path Management for PMD
3.1 Modelling of Socially Acceptable Local Navigation
3.2 Local Navigation Analysis
4 Conclusion
References
Automatic Parameterization of Motion and Force Controlled Robot Skills
1 Introduction
2 Related Work
2.1 Contact Skill Learning
2.2 Hybrid Position-Force Control
3 Skill Architecture
3.1 Skill Attributes
3.2 Skill Parameters
4 Skill Implementation
4.1 Slide
Preface
Contents
Motion Planning and Control
Design for a Dual-Redundant Flight Control Computer Using a Model Predictive Voting Algorithm
1 Introduction
2 Related Work
3 Methodology
3.1 Dual-Redundant Flight Control Computer System Design
3.2 Model Predictive Voting Algorithm (MPVA)
4 Simulation Results
5 Conclusions
References
TPL: Trajectory Planner for Target Tracking in Low-Light Environments
1 Introduction
2 Related Works
3 Methodology
3.1 System Overview
3.2 Waypoints Generation with Object Detection
3.3 Trajectory Construction
3.4 Tracking Controller
4 Experiment
4.1 Validation of Trajectory Planner and Controller
4.2 Real-World Experiment
5 Result and Discussion
6 Conclusion
References
Design of Foothold Decision Model in Convex Model Predictive Control for Legged Robots
1 Introduction
2 Dynamics and Control
2.1 3D Single Rigid Body Hybrid Model
2.2 Variation-Based Linearization
2.3 Vectorization
2.4 Model Predictive Control
3 Simulational Results
3.1 Comparative Simulation
3.2 Challenging Tasks
4 Conclusion
References
Learning Footstep Planning for the Quadrupedal Locomotion with Model Predictive Control
1 Introduction
1.1 Model Predictive Control
1.2 Reinforcement Learning
2 Methodology
2.1 Overview
2.2 Nonlinear Model Predictive Control
2.3 Learning Footstep Planning Policy
3 Result
3.1 Environment Setup
3.2 Comparison with Heuristic Planner
4 Conclusion
References
Study on Geometry Based Collision Avoidance for Formation Flight by Redefinition of Safety Radius
1 Introduction
2 Guidance Law of Formation Flight
3 Collision Avoidance for Formation Flight
3.1 Obstacle Detection and Estimation
3.2 Redefinition of Safe Radius
3.3 Collision Detection and Avoidance
4 Experiment
4.1 System Configuration
4.2 Flight Experiment
5 Conclusion
Reference
Socially Acceptable Route Planning and Trajectory Behavior Analysis of Personal Mobility Device for Mobility Management with Improved Sensing
1 Introduction
2 Socially Acceptable Global Path Analysis for PMD
2.1 Map Visualization of Shared Space in an Area
2.2 Traffic Flow and Betweenness Centrality (BC) for Finding Out Major Links
2.3 Design Criteria for Selecting Social Acceptable Route
2.4 Cost Function of Links for Global Path Search
2.5 Global Path Analysis
3 Socially Acceptable Local Path Management for PMD
3.1 Modelling of Socially Acceptable Local Navigation
3.2 Local Navigation Analysis
4 Conclusion
References
Automatic Parameterization of Motion and Force Controlled Robot Skills
1 Introduction
2 Related Work
2.1 Contact Skill Learning
2.2 Hybrid Position-Force Control
3 Skill Architecture
3.1 Skill Attributes
3.2 Skill Parameters
4 Skill Implementation
4.1 Slide