45 citations · 56 across the 7 of their papers we have counts for
7 papers
BoundPlanner: A convex-set-based approach to bounded manipulator trajectory planning
Thies Oelerich, Christian Hartl-Nesic, Florian Beck +1
Online trajectory planning enables robot manipulators to react quickly to changing environments or tasks. Many robot trajectory planners exist for known environments but are often…
Language-Driven Closed-Loop Grasping with Model-Predictive Trajectory Replanning
Huy Hoang Nguyen, Minh Nhat Vu, Florian Beck +3
Combining a vision module inside a closed-loop control system for a \emph{seamless movement} of a robot in a manipulation task is challenging due to the inconsistent update rates b…
Model Predictive Trajectory Optimization With Dynamically Changing Waypoints for Serial Manipulators
Florian Beck, Minh Nhat Vu, Christian Hartl-Nesic +1
Systematically including dynamically changing waypoints as desired discrete actions, for instance, resulting from superordinate task planning, has been challenging for online model…
BoundMPC: Cartesian path following with error bounds based on model predictive control in the joint space
Thies Oelerich, Florian Beck, Christian Hartl-Nesic +1
This work introduces the BoundMPC strategy, an innovative online model-predictive path-following approach for robot manipulators. This joint-space trajectory planner allows the fol…
Two-Step Online Trajectory Planning of a Quadcopter in Indoor Environments with Obstacles
Martin Zimmermann, Minh Nhat Vu, Florian Beck +2
This paper presents a two-step algorithm for online trajectory planning in indoor environments with unknown obstacles. In the first step, sampling-based path planning techniques su…
Machine Learning-based Framework for Optimally Solving the Analytical Inverse Kinematics for Redundant Manipulators
Minh Nhat Vu, Florian Beck, Michael Schwegel +3
Solving the analytical inverse kinematics (IK) of redundant manipulators in real time is a difficult problem in robotics since its solution for a given target pose is not unique. M…
Singularity Avoidance with Application to Online Trajectory Optimization for Serial Manipulators
Florian Beck, Minh Nhat Vu, Christian Hartl-Nesic +1
This work proposes a novel singularity avoidance approach for real-time trajectory optimization based on known singular configurations. The focus of this work lies on analyzing kin…