Filippos E. Sotiropoulos — accepted AI-conference papers

2022

Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators

Filippos E. Sotiropoulos, H. Harry Asada

RA-L 2022

A lifting-linearization method based on the Koopman operator and Dual Faceted Linearization is applied to the control of a robotic excavator. In excavation, a bucket interacts with the surrounding soil in a highly nonlinear and complex manner. Here, we propose to represent the nonlinear bucket-soil

Cited by 19 Source ↗Scholar ↗

2020

Autonomous Excavation of Rocks Using a Gaussian Process Model and Unscented Kalman Filter

Filippos E. Sotiropoulos, H. Harry Asada

RA-L 2020

In large-scale open-pit mining and construction works, excavators must deal with large rocks mixed with gravel and granular soil. Capturing and moving large rocks with the bucket of an excavator requires a high level of skill that only experienced human operators possess. In an attempt to develop au

Cited by 22 Source ↗Scholar ↗

2019

A Model-Free Extremum-Seeking Approach to Autonomous Excavator Control Based on Output Power Maximization

Filippos E. Sotiropoulos, H. Harry Asada

RA-L 2019

A new approach to autonomous excavator control that allows the machine to adapt to unknown soil properties is presented. Unlike traditional force control or trajectory control, the new method uses the product of force and velocity, namely, the power transmitted from the excavator to the soil, as a s

Cited by 34 Source ↗Scholar ↗