10 papers
A Unified Multi-Dynamics Framework for Perception-Oriented Modeling in Tendon-Driven Continuum Robots
Ibrahim Alsarraj, Yuhao Wang, Abdalla Swikir +4
Tendon-driven continuum robots offer intrinsically safe and contact-rich interactions owing to their kinematic redundancy and structural compliance. However, their perception often…
Density Matrix-based Dynamics for Quantum Robotic Swarms
Maria Mannone, Mahathi Anand, Peppino Fazio +1
In a robotic swarm, parameters such as position and proximity to the target can be described in terms of probability amplitudes. This idea led to recent studies on a quantum approa…
Learning-Based Robust Control: Unifying Exploration and Distributional Robustness for Reliable Robotics via Free Energy
Hozefa Jesawada, Giovanni Russo, Abdalla Swikir +1
A key challenge towards reliable robotic control is devising computational models that can both learn policies and guarantee robustness when deployed in the field. Inspired by the…
UNCLE-Grasp: Uncertainty-Aware Grasping of Leaf-Occluded Strawberries
Malak Mansour, Ali Abouzeid, Zezhou Sun +3
Robotic strawberry harvesting remains challenging under partial occlusion, where leaf interference introduces significant geometric uncertainty and renders grasp decisions based on…
Safe and Stable Neural Network Dynamical Systems for Robot Motion Planning
Allen Emmanuel Binny, Mahathi Anand, Hugo T. M. Kussaba +4
Learning safe and stable robot motions from demonstrations remains a challenge, especially in complex, nonlinear tasks involving dynamic, obstacle-rich environments. In this paper,…
Stable Robot Motions on Manifolds: Learning Lyapunov-Constrained Neural Manifold ODEs
David Boetius, Abdelrahman Abdelnaby, Ashok Kumar +3
Learning stable dynamical systems from data is crucial for safe and reliable robot motion planning and control. However, extending stability guarantees to trajectories defined on R…