4 papers
Orthogonal-by-construction augmentation of physics-based input-output models
Bendegúz M. Györök, Maarten Schoukens, Tamás Péni +1
This paper proposes a novel orthogonal-by-construction parametrization for augmenting physics-based input-output models with a learning component in an additive sense. The parametr…
Gaussian-Process-based Adaptive Tracking Control with Dynamic Active Learning for Autonomous Ground Vehicles
Kristóf Floch, Tamás Péni, Roland Tóth
This article proposes an active-learning-based adaptive trajectory tracking control method for autonomous ground vehicles to compensate for modeling errors and unmodeled dynamics.…
Hook-Based Aerial Payload Grasping from a Moving Platform
Péter Antal, Tamás Péni, Roland Tóth
This paper investigates payload grasping from a moving platform using a hook-equipped aerial manipulator. First, a computationally efficient trajectory optimization based on comple…
Orthogonal projection-based regularization for efficient model augmentation
Bendegúz M. Györök, Jan H. Hoekstra, Johan Kon +3
Deep-learning-based nonlinear system identification has shown the ability to produce reliable and highly accurate models in practice. However, these black-box models lack physical…