7 citations
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cs.RO2023★ 7 cited
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles
Moritz Eckhoff, Dennis Knobbe, Henning Zwirnmann +2
One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing compl…
cs.RO2023★ 3 cited
Fast yet predictable braking manoeuvers for real-time robot control
Mazin Hamad, Jesus Gutierrez-Moreno, Hugo T. M. Kussaba +5
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain fe…
cs.RO2023★ 2 cited
Learning optimal controllers: a dynamical motion primitive approach
Hugo T. M. Kussaba, Abdalla Swikir, Fan Wu +3
Real-time computation of optimal control is a challenging problem and, to solve this difficulty, many frameworks proposed to use learning techniques to learn (possibly sub-optimal)…