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math.OC2023
Parallelisable computation of the gradient in nonlinear stochastic optimal control problems
Jie Lin, Ruairi Moran, Pantelis Sopasakis
Nonlinear (deterministic and stochastic) optimal control problems are often solved on embedded devices using first-order numerical optimisation methods. The gradient computation ac…
cs.RO2023
An NMPC-ECBF Framework for Dynamic Motion Planning and Execution in vision-based Human-Robot Collaboration
Dianhao Zhang, Mien Van, Pantelis Sopasakis +1
To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critica…