8 papers · 1 filter
Stable Transformer-Actor-Critic Model Predictive Control: A Contraction Analysis Approach
Antonio Marino, Valerio Modugno, Marco Cognetti
Actor-Critic Model Predictive Control (MPC) effectively addresses complex, non-convex control problems, but guaranteeing the closed-loop stability of sequence-based learning models…
A Progress-Aware Leader-Follower Midair Docking System for Dual-Drone Aerial Manipulation
Yifan Cai, Jan Ming Kevin Tan, Xiangqi Li +3
Reliable midair docking between small unmanned aerial vehicles (UAVs) is essential for modular aerial cooperation and manipulation, but it requires precise relative-pose control an…
An Aerial Manipulator for Perception-Driven Flower Targeting Toward Contactless Pollination in Vertical Farming
Chenzhe Jin, Zhuohang Wu, Yifan Cai +4
The decline of natural pollinators has created a major challenge for crop production in controlled indoor agriculture, particularly in vertical farming environments where natural i…
Feedback-MPPI: Fast Sampling-Based MPC via Rollout Differentiation -- Adios low-level controllers
Tommaso Belvedere, Michael Ziegltrum, Giulio Turrisi +1
Model Predictive Path Integral control is a powerful sampling-based approach suitable for complex robotic tasks due to its flexibility in handling nonlinear dynamics and non-convex…
BC-MPPI: A Probabilistic Constraint Layer for Safe Model-Predictive Path-Integral Control
Odichimnma Ezeji, Michael Ziegltrum, Giulio Turrisi +2
Model Predictive Path Integral (MPPI) control has recently emerged as a fast, gradient-free alternative to model-predictive control in highly non-linear robotic tasks, yet it offer…
Immersive Teleoperation Framework for Locomanipulation Tasks
Takuya Boehringer, Jonathan Embley-Riches, Karim Hammoud +2
Recent advancements in robotic loco-manipulation have leveraged Virtual Reality (VR) to enhance the precision and immersiveness of teleoperation systems, significantly outperformin…