7 papers
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…
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…
Constrained Trajectory Optimization for Hybrid Dynamical Systems
Pietro Noah Crestaz, Gokhan Alcan, Ville Kyrki
Hybrid dynamical systems pose significant challenges for effective planning and control, especially when additional constraints such as obstacle avoidance, state boundaries, and ac…
Learning Transparent Reward Models via Unsupervised Feature Selection
Daulet Baimukashev, Gokhan Alcan, Kevin Sebastian Luck +1
In complex real-world tasks such as robotic manipulation and autonomous driving, collecting expert demonstrations is often more straightforward than specifying precise learning obj…
Trajectory Planning and Control for Robotic Magnetic Manipulation
Ogulcan Isitman, Gokhan Alcan, Ville Kyrki
Robotic magnetic manipulation offers a minimally invasive approach to gastrointestinal examinations through capsule endoscopy. However, controlling such systems using external perm…
Constrained Trajectory Optimization on Matrix Lie Groups via Lie-Algebraic Differential Dynamic Programming
Gokhan Alcan, Fares J. Abu-Dakka, Ville Kyrki
Matrix Lie groups are an important class of manifolds commonly used in control and robotics, and optimizing control policies on these manifolds is a fundamental problem. In this wo…