3 accepted papers
Approximating model predictive control (MPC) using imitation learning (IL) allows for fast control without solving expensive optimization problems online. However, methods that use neural networks in a simple L2-regression setup fail to approximate multi-modal (set-valued) solution distributions cau
The Mini Wheelbot is a balancing, reaction wheel unicycle robot designed as a testbed for learning-based control. It is an unstable system with highly nonlinear yaw dynamics, non-holonomic driving, and discrete contact switches in a small, powerful, and rugged form factor. The Mini Wheelbot can use
In this paper, we present a solution for simultaneous handling of large components with industrial robots performing synchronized motions with an AGV in flexible flow assembly. For this purpose, we implement an Extended Kalman Filter with a global localization system to track an AGV and multiple man…