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cs.RO2026
Interconnection and Damping Assignment Passivity-Based Control using Sparse Neural ODEs
Nicolò Botteghi, Owen Brook, Urban Fasel +1
Interconnection and Damping Assignment Passivity-Based Control (IDA-PBC) is a nonlinear control technique that assigns a port-Hamiltonian (pH) structure to a controlled system usin…
cs.RO2024
Denoising Diffusion Planner: Learning Complex Paths from Low-Quality Demonstrations
Michiel Nikken, Nicolò Botteghi, Wesley Roozing +1
Denoising Diffusion Probabilistic Models (DDPMs) are powerful generative deep learning models that have been very successful at image generation, and, very recently, in path planni…
cs.RO2024
Limiting Kinetic Energy through Control Barrier Functions: Analysis and Experimental Validation
Federico Califano, Daniel Logmans, Wesley Roozing
In the context of safety-critical control, we propose and analyse the use of Control Barrier Functions (CBFs) to limit the kinetic energy of torque-controlled robots. The proposed…