4 papers
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,…
Actor-Identifier-Critic Reinforcement Learning for Adaptive Model-Free Optimal Control of Nonlinear Systems with Stochastic Packet Dropouts
Kianoush Aqabakee, Kosar Behnia, Amirhossein Heydarian Ardakani +2
Packet dropouts in control systems poses a critical challenge, as it can significantly compromise system performance and stability. In these conditions, classical controllers often…
Online Detection and Mitigation of Robust Zero Dynamics Anomaly Behavior in MIMO Nonlinear Control Systems
Kosar Behnia, H. A. Talebi, Farzaneh Abdollahi
This paper presents a methodology to detect robust zero dynamics anomaly behavior and mitigate the impacts in general multi-input multi-output (MIMO) nonlinear systems. The propose…