Showing cs.ROShow all
3 papers · 1 filter
cs.RO2025
A Bi-Level Optimization Method for Redundant Dual-Arm Minimum Time Problems
Jonathan Fried, Santiago Paternain
In this work, we present a method for minimizing the time required for a redundant dual-arm robot to follow a desired relative Cartesian path at constant path speed by optimizing i…
cs.RO2025
Autonomous helicopter aerial refueling: controller design and performance guarantees
Damsara Jayarathne, Santiago Paternain, Sandipan Mishra
In this paper, we present a control design methodology, stability criteria, and performance bounds for autonomous helicopter aerial refueling. Autonomous aerial refueling is partic…
cs.RO2024
A Bi-Level Optimization Approach to Joint Trajectory Optimization for Redundant Manipulators
Jonathan Fried, Santiago Paternain
In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajector…