In recent years, there has been remarkable progress in the development of so-called
certifiable perception methods, which leverage semidefinite, convex relaxations to find …

This paper explores the distance-based relative state estimation problem in large-scale
systems, which is hard to solve effectively due to its high-dimensionality and non-convexity …

Mutual localization provides a consensus of reference frame as an essential basis for
cooperation in multi-robot systems. Previous works have developed certifiable and robust …

The inverse kinematics problem involves the study that the inverse kinematics solver needs
to calculate the values of the joint variables given the desired pose of the end-effector of a …

The small size, high dexterity, and intrinsic compliance of continuum robots (CRs) make
them well suited for constrained environments. Solving the inverse kinematics (IK), that is …

Installing digital subtraction angiography (DSA) equipment in an ambulance can provide
crucial image guidance for the emergency medical service of cardiovascular diseases …

Fast inverse kinematics (IK) is a central component in robotic motion planning. For complex
robots, IK methods are often based on root search and nonlinear optimization algorithms …

Differentiable optimization is a powerful new paradigm capable of reconciling model-based
and learning-based approaches in robotics. However, the majority of robotics optimization …

In this paper, we propose a novel Reinforcement Learning (RL) algorithm for robotic motion
control, that is, a constrained Deep Deterministic Policy Gradient (DDPG) deviation learning …

The non-spherical 6R manipulators are widely used in many fields. However, the non-
spherical structure often poses challenges in the inverse kinematics problem (IKP) for such …