3 accepted papers
Learning control policies in simulation enables rapid, safe, and cost-effective development of advanced robotic capabilities. However, transferring these policies to the real world remains difficult due to the sim-to-real gap, where unmodeled dynamics and environmental disturbances can degrade polic…
This work proposes an optimal control scheme for a trajectory-tracking Automated Guided Vehicle considering motion and collision constraints in a warehouse environment. We outline how the simpler obstacle avoidance constraints in the Cartesian Coordinate Frame (CCF) can be retained, while projecting…
Flexible robots may overcome some of the industry’s major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to their complex dynamics, which include oscillatory behavior and…