From the 1 of 7 linked papers with an AI index.
7 papers
Learning Social Robot Navigation By Sensing Human Legs
Alberto Vaglio, Andrea Garulli, Antonio Giannitrapani +2
The paper introduces CALF, an end‑to‑end neural network that reads 2‑D LiDAR scans of human legs and outputs socially compliant navigation commands for robots, trained via deep rei…
Time-Optimal Model Predictive Control for Linear Systems with Multiplicative Uncertainties
Renato Quartullo, Andrea Garulli, Mirko Leomanni
This paper presents a time-optimal Model Predictive Control (MPC) scheme for linear discrete-time systems subject to multiplicative uncertainties represented by interval matrices.…
Data-Driven Robust Predictive Control with Interval Matrix Uncertainty Propagation
Renato Quartullo, Andrea Garulli, Mirko Leomanni
This paper presents a new data-driven robust predictive control law, for linear systems affected by unknown-but-bounded process disturbances. A sequence of input-state data is used…
Robust Model Predictive Control for Linear Systems with Interval Matrix Model Uncertainty
Renato Quartullo, Andrea Garulli, Mirko Leomanni
This paper proposes a novel robust Model Predictive Control (MPC) scheme for linear discrete-time systems affected by model uncertainty described by interval matrices. The key feat…
A Comparative Study of Human Motion Models in Reinforcement Learning Algorithms for Social Robot Navigation
Tommaso Van Der Meer, Andrea Garulli, Antonio Giannitrapani +1
Social robot navigation is an evolving research field that aims to find efficient strategies to safely navigate dynamic environments populated by humans. A critical challenge in th…
Robust Variable-Horizon MPC with Adaptive Terminal Constraints
Renato Quartullo, Gianni Bianchini, Andrea Garulli +1
This paper presents a novel robust variable-horizon model predictive control scheme designed to intercept a target moving along a known trajectory, in finite time. Linear discrete-…