—The inherent uncertainty associated with unstructured grasping tasks makes establishing a successful grasp difficult. Traditional approaches to this problem involve hands that a...
— This paper presents an algorithm for adapting periodic behavior to gradual shifts in task parameters. Since learning optimal control in high dimensional domains is subject to t...
This paper presents a method for enlarging the domain of attraction of nonlinear model predictive control (MPC). The usual way of guaranteeing stability of nonlinear MPC is to add...
— We present an algorithm that probabilistically covers a bounded region of the state space of a nonlinear system with a sparse tree of feedback stabilized trajectories leading t...
Vision based tracking of an object using the ideas of perspective projection inherently consists of nonlinearly modelled measurements although the underlying dynamic system that en...
Pubudu N. Pathirana, Adrian N. Bishop, Andrey V. S...