The general stochastic optimal control (SOC) problem in robotics scenarios is often too complex to be solved exactly and in near real time. A classical approximate solution is to ...
Automatically building maps from sensor data is a necessary and fundamental skill for mobile robots; as a result, considerable research attention has focused on the technical chall...
— This paper presents a standing balance controller. We employ a library of optimal trajectories and the neighboring optimal control method to generate local approximations to th...
Abstract— Humanoid robots are appealing due to their inherent dexterity. However, these potential benefits may only be realized if the corresponding motion synthesis procedure i...
— We present the design of an optimal trajectory controller for landing a helicopter on a moving target. The trajectory planner is based on the Variational Hamiltonian and Euler-...