4 papers
A Deep Reinforcement Learning Framework and Methodology for Reducing the Sim-to-Real Gap in ASV Navigation
Luis F W Batista, Junghwan Ro, Antoine Richard +3
Despite the increasing adoption of Deep Reinforcement Learning (DRL) for Autonomous Surface Vehicles (ASVs), there still remain challenges limiting real-world deployment. In this p…
Architectural-Scale Artistic Brush Painting with a Hybrid Cable Robot
Gerry Chen, Tristan Al-Haddad, Frank Dellaert +1
Robot art presents an opportunity to both showcase and advance state-of-the-art robotics through the challenging task of creating art. Creating large-scale artworks in particular e…
Generalizing Trajectory Retiming to Quadratic Objective Functions
Gerry Chen, Frank Dellaert, Seth Hutchinson
Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a…
Locally Optimal Estimation and Control of Cable Driven Parallel Robots using Time Varying Linear Quadratic Gaussian Control
Gerry Chen, Seth Hutchinson, Frank Dellaert
We present a locally optimal tracking controller for Cable Driven Parallel Robot (CDPR) control based on a time-varying Linear Quadratic Gaussian (TV-LQG) controller. In contrast t…