4 papers
Input Dexterity and Output Negotiation in Feedback-Linearizable Nonlinear Systems
Mirko Mizzoni, Pieter van Goor, Barbara Bazzana +1
We introduce a task-relative taxonomy of actuator inputs for nonlinear systems within the input-output feedback-linearization framework. Given a flat output specifying the task, in…
Autonomous Aerial Non-Destructive Testing: Ultrasound Inspection with a Commercial Quadrotor in an Unstructured Environment
Ruben Veenstra, Barbara Bazzana, Sander Smits +1
This work presents an integrated control and software architecture that enables arguably the first fully autonomous, contact-based non-destructive testing (NDT) using a commercial…
Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees
Mirko Mizzoni, Pieter van Goor, Barbara Bazzana +1
We study switching among multiple square selections of output functions (melds) drawn from a deck of candidate outputs for nonlinear systems that are static feedback linearizable v…
Invisible Servoing: a Visual Servoing Approach with Return-Conditioned Latent Diffusion
Bishoy Gerges, Barbara Bazzana, Nicolò Botteghi +2
In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models…