4 accepted papers
Prioritization of tasks is a common approach to resolve conflicts in instantaneous control of redundant robots. However, the idea of prioritization has not yet been satisfactorily extended to model predictive control (MPC) to allow for real-time robot control. The standard sequential approach for pr…
The tunnel-following nonlinear model predictive control (NMPC) scheme allows to exploit acceptable deviations around a path reference. This is done by using convex-over-nonlinear functions as objective and constraints in the underlying optimal control problem (OCP). The convex-over-nonlinear structu
We present Tasho (Task specification for receding horizon control), an open-source Python toolbox that facilitates systematic programming of optimal control problem (OCP)-based robot motion skills. Separation-of-concerns is followed while designing the components of a motion skill, which promotes th…
Extensive work has been done on efficiently resolving hierarchical robot task specifications that minimize the <i xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">l</i> -2 norm of linear constraint violations, but not for <i xmlns:mml="http://www.w3.org/1998/