16 citations · 31 across the 7 of their papers we have counts for
3 papers · 1 filter
Heterogeneous Full-body Control of a Mobile Manipulator with Behavior Trees
Marco Iannotta, David Cáceres Domínguez, Johannes A. Stork +2
Integrating the heterogeneous controllers of a complex mechanical system, such as a mobile manipulator, within the same structure and in a modular way is still challenging. In this…
Towards Task-Prioritized Policy Composition
Finn Rietz, Erik Schaffernicht, Todor Stoyanov +1
Combining learned policies in a prioritized, ordered manner is desirable because it allows for modular design and facilitates data reuse through knowledge transfer. In control theo…
A Stack-of-Tasks Approach Combined with Behavior Trees: a New Framework for Robot Control
David Cáceres Domínguez, Marco Iannotta, Johannes A. Stork +2
Stack-of-Tasks (SoT) control allows a robot to simultaneously fulfill a number of prioritized goals formulated in terms of (in)equality constraints in error space. Since this appro…