6 papers
A Reinforcement Learning Framework for Safety-Aware Haptic Shared Control in Surgical Robotics
Zihao Zhang, Karl Handwerker, Balint Varga
Haptic shared control in surgical robotics combines human-side and robot-side forces at a shared end effector while preserving operator involvement. However, the effects of geometr…
Approximate Feedback Nash Equilibria in Constrained Differential Games via Model Predictive Control with Upper Bound Guarantees
Balint Varga, Karl Handwerker, Imre Rudas +1
Physical human--machine interaction and other multi-agent control settings require decision-making policies that adapt online. Differential games provide a principled framework whe…
Policy Iteration for Linear-Quadratic Stochastic Differential Games with State- and Control-Dependent Noise
Karl Handwerker, Felix Thömmes, Lucas Günther +2
This paper presents a novel sequential policy iteration (PI) method for stochastic differential games with state- and control-dependent noise. The updates preserve mean-square stab…
Infinite-Horizon Inverse Linear-Quadratic Differential Games with State- and Control-Dependent Noise
Lucas Günther, Karl Handwerker, Felix Thömmes +2
This paper presents a method to solve the inverse problem for N-player infinite-horizon linear-quadratic (LQ) differential games with state- and control-dependent noise. For this s…
Inverse Linear-Quadratic Gaussian Differential Games
Lucas Günther, Felix Thömmes, Karl Handwerker +2
This paper presents a method for solving the Inverse Stochastic Differential Game (ISDG) problem in finite-horizon linear-quadratic Gaussian (LQG) differential games. The objective…
Adaptive Model Predictive Control for Differential-Algebraic Systems towards a Higher Path Accuracy for Physically Coupled Robots
Xin Ye, Karl Handwerker, Sören Hohmann
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accurac…