curobo: Parallelized collision-free minimum-jerk robot motion generation
B Sundaralingam, SKS Hari, A Fishman… - arxiv preprint arxiv …, 2023 - arxiv.org
This paper explores the problem of collision-free motion generation for manipulators by
formulating it as a global motion optimization problem. We develop a parallel optimization …
formulating it as a global motion optimization problem. We develop a parallel optimization …
Tailoring solution accuracy for fast whole-body model predictive control of legged robots
C Khazoom, S Hong, M Chignoli… - IEEE Robotics and …, 2024 - ieeexplore.ieee.org
Thanks to recent advancements in accelerating non-linear model predictive control (NMPC),
it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots …
it is now feasible to deploy whole-body NMPC at real-time rates for humanoid robots …
Hierarchical incremental mpc for redundant robots: a robust and singularity-free approach
Y Wang, Y Liu, M Leibold, M Buss… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
This article presents a model predictive control (MPC) method for redundant robots
controlling multiple hierarchical tasks formulated as multilayer constrained optimal control …
controlling multiple hierarchical tasks formulated as multilayer constrained optimal control …
Model predictive optimization for imitation learning from demonstrations
Abstract “Motion generation by imitating” enables a robot to generate its trajectory in a new
environment. Research works on dynamic movement primitives (DMP) has reported …
environment. Research works on dynamic movement primitives (DMP) has reported …
[HTML][HTML] Data-driven control of wind turbine under online power strategy via deep learning and reinforcement learning
This study proposes a data-driven wind turbine (WT) model predictive control (MPC)
enhanced by a deep-learning (DL) radial basis function network (RBFN) and a …
enhanced by a deep-learning (DL) radial basis function network (RBFN) and a …
From compliant to rigid contact simulation: a unified and efficient approach
J Carpentier, L Montaut, QL Lidec - arxiv preprint arxiv:2405.17020, 2024 - arxiv.org
Whether rigid or compliant, contact interactions are inherent to robot motions, enabling them
to move or manipulate things. Contact interactions result from complex physical phenomena …
to move or manipulate things. Contact interactions result from complex physical phenomena …
Proxddp: Proximal constrained trajectory optimization
Trajectory optimization (TO) has proven, over the last decade, to be a versatile and effective
framework for robot control. Several numerical solvers have been demonstrated to be fast …
framework for robot control. Several numerical solvers have been demonstrated to be fast …
Relu-qp: A gpu-accelerated quadratic programming solver for model-predictive control
AL Bishop, JZ Zhang, S Gurumurthy… - … on Robotics and …, 2024 - ieeexplore.ieee.org
We present ReLU-QP, a GPU-accelerated solver for quadratic programs (QPs) that is
capable of solving high-dimensional control problems at real-time rates. ReLU-QP is derived …
capable of solving high-dimensional control problems at real-time rates. ReLU-QP is derived …
A unified perspective on multiple shooting in differential dynamic programming
Differential Dynamic Programming (DDP) is an efficient computational tool for solving
nonlinear optimal control problems. It was originally designed as a single shooting method …
nonlinear optimal control problems. It was originally designed as a single shooting method …
Efficient online planning and robust optimal control for nonholonomic mobile robot in unstructured environments
In complex environments where occupied and unknown areas exceed the free space, it is
essential for robots to utilize efficient methods for environmental perception, trajectory …
essential for robots to utilize efficient methods for environmental perception, trajectory …