33 citations · 128 across the 19 of their papers we have counts for
7 papers · 1 filter
ScanSTL: Parallel Robustness Evaluation for Signal Temporal Logic
Gokhan Alcan
Repeated evaluation and differentiation of Signal Temporal Logic (STL) robustness can become a computational bottleneck in robot planning and control. Sequential temporal recurrenc…
Robust Nonprehensile Object Transport with Quadruped Robots
Ainoor Teimoorzadeh, Riccardo Pretto, Mario Selvaggio +2
In this paper, we present a robust nonprehensile object transportation framework for quadruped robots. An uncertainty-aware trajectory optimization method generates object motions…
Physics Residual Dynamics and Reduced Order Whole-Body Planning for Obstacle Aware Human Robot Cloth CoTransportation
Moein Forouhar, Kosar Behnia, Anirvan Dutta +5
Human--robot co-transportation of deformable objects requires predicting object deformation during motion, since obstacle clearance depends on both the grasp points and the unactua…
Deformable Object Manipulation under Partial Observability via Real-Time Full-Shape Estimation
Kosar Behnia, Ville Kyrki, Gokhan Alcan
Manipulating deformable objects (DOs) is challenging due to their high-dimensional state space, underactuated dynamics, and partial observability. In this paper, we propose cRVAE,…
Adaptive Shared Control with Online Bounded-Rational Human Behavior Estimation
Henry Ascencio Trejo, Roel Pieters, Gokhan Alcan
This work considers adaptive shared human-robot control for nonlinear control-affine systems, where the assumption of a fully rational human is relaxed and the robot adapts its ass…
Receding-Horizon Nullspace Optimization for Actuation-Aware Control Allocation in Omnidirectional UAVs
Riccardo Pretto, Mahmoud Hamandi, Abdullah Mohamed Ali +3
Fully actuated omnidirectional UAVs enable independent control of forces and torques along all six degrees of freedom, broadening the operational envelope for agile flight and aeri…
Adaptive Modular Geometric Control of Robotic Manipulators
Mahdi Hejrati, Amir Hossein Barjini, Gokhan Alcan +1
This paper develops an adaptive modular geometric control framework for robotic manipulators with uncertain inertial parameters. The manipulator is decomposed into rigid-body and j…