5 papers · 1 filter
Architectural-Scale Artistic Brush Painting with a Hybrid Cable Robot
Gerry Chen, Tristan Al-Haddad, Frank Dellaert +1
Robot art presents an opportunity to both showcase and advance state-of-the-art robotics through the challenging task of creating art. Creating large-scale artworks in particular e…
Generalizing Trajectory Retiming to Quadratic Objective Functions
Gerry Chen, Frank Dellaert, Seth Hutchinson
Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a…
A Hybrid Cable-Driven Robot for Non-Destructive Leafy Plant Monitoring and Mass Estimation using Structure from Motion
Gerry Chen, Harsh Muriki, Cédric Pradalier +2
We propose a novel hybrid cable-based robot with manipulator and camera for high-accuracy, medium-throughput plant monitoring in a vertical hydroponic farm and, as an example appli…
Locally Optimal Estimation and Control of Cable Driven Parallel Robots using Time Varying Linear Quadratic Gaussian Control
Gerry Chen, Seth Hutchinson, Frank Dellaert
We present a locally optimal tracking controller for Cable Driven Parallel Robot (CDPR) control based on a time-varying Linear Quadratic Gaussian (TV-LQG) controller. In contrast t…
Equality Constrained Linear Optimal Control With Factor Graphs
Shuo Yang, Gerry Chen, Yetong Zhang +2
This paper presents a novel factor graph-based approach to solve the discrete-time finite-horizon Linear Quadratic Regulator problem subject to auxiliary linear equality constraint…