3 citations · 3 across the 4 of their papers we have counts for
7 papers
Principles of Robot Autonomy
Daniele Gammelli, Joseph Lorenzetti, Katie Luo +2
Autonomous robots are moving rapidly from research labs into everyday life - on roads, in the air, in warehouses, and in space. Robot autonomy is no longer solely an academic pursu…
Linear Reduced Order Model Predictive Control
Joseph Lorenzetti, Andrew McClellan, Charbel Farhat +1
Model predictive controllers use dynamics models to solve constrained optimal control problems. However, computational requirements for real-time control have limited their use to…
Soft Robot Optimal Control Via Reduced Order Finite Element Models
Sander Tonkens, Joseph Lorenzetti, Marco Pavone
Finite element methods have been successfully used to develop physics-based models of soft robots that capture the nonlinear dynamic behavior induced by continuous deformation. The…
Error Bounds for Reduced Order Model Predictive Control
Joseph Lorenzetti, Marco Pavone
Model predictive control is a powerful framework for enabling optimal control of constrained systems. However, for systems that are described by high-dimensional state spaces this…
A Simple and Efficient Tube-based Robust Output Feedback Model Predictive Control Scheme
Joseph Lorenzetti, Marco Pavone
The control of constrained systems using model predictive control (MPC) becomes more challenging when full state information is not available and when the nominal system model and…
Bilevel Optimization for Planning through Contact: A Semidirect Method
Benoit Landry, Joseph Lorenzetti, Zachary Manchester +1
Many robotics applications, from object manipulation to locomotion, require planning methods that are capable of handling the dynamics of contact. Trajectory optimization has been…
Reduced Order Model Predictive Control For Setpoint Tracking
Joseph Lorenzetti, Benoit Landry, Sumeet Singh +1
Despite the success of model predictive control (MPC), its application to high-dimensional systems, such as flexible structures and coupled fluid/rigid-body systems, remains a larg…