7 citations · 7 across the 6 of their papers we have counts for
3 papers · 1 filter
Full-Order Safety for Nonlinear Reduced-Order MPC
Luis Pabon, Johannes Köhler, Revant Kasichainula +1
Reduced-order models (ROMs) make model predictive control (MPC) of high-dimensional nonlinear systems tractable, but the resulting modeling error can lead to constraint violations…
frax: Fast Robot Kinematics and Dynamics in JAX
Daniel Morton, Marco Pavone
In robot control, planning, and learning, there is a need for rigid-body dynamics libraries that are highly performant, easy to use, and compatible with CPUs and accelerators. Whil…
Learning Actuator-Aware Spectral Submanifolds for Precise Control of Continuum Robots
Paul Leonard Wolff, Hugo Buurmeijer, Luis Pabon +6
Continuum robots exhibit high-dimensional, nonlinear dynamics which are often coupled with their actuation mechanism. Spectral submanifold (SSM) reduction has emerged as a leading…