Publications related to Optic-flow-based Altitude and Forward Speed Regulation using Stereotypical Lateral Movements

Stochastic learning and control in multiple coordinate systems

A probabilistic interpretation of model predictive control is presented, enabling extensions to multiple coordinate systems. The resulting controller follows a minimal intervention principle, by learning and retrieving movements through the coordination of ...

2016

In a demanding task, three-handed manipulation is preferred to two-handed manipulation

Hannes Bleuler, Mohamed Bouri, Etienne Burdet, Elahe Abdi

Equipped with a third hand under their direct control, surgeons may be able to perform certain surgical interventions alone; this would reduce the need for a human assistant and related coordination difficulties. However, does human performance improve wit ...

Nature Publishing Group2016

Plug-and-Play distributed model predictive control with coupling attenuation

Giancarlo Ferrari Trecate

We consider the control of a large-scale system composed of state-coupled linear subsystems that can be added or removed offline. In this paper we present Plug-and-Play (PnP) design methods based on Model Predictive Control (MPC) meaning that (i) the desig ...

2015

Gaussian Processes for System Identification, Control and Optimisation

Sanket Sanjay Diwale

A short technical subsection for Gaussian Process learning and Uncertainty propagation is presented as required in applications like Model Predictive Control, machine learning and optimization. ...

LA32015

Optimization Based Control for Target Estimation and Tracking via Highly Observable Trajectories An Application to Motion Control of Autonomous Robotic Vehicles

Colin Neil Jones, Andrea Alessandretti, António Pedro Rodrigues de Aguiar

This paper proposes a Model Predictive Control (MPC) scheme to solve the target estimation and tracking problem. The objective is to derive a feedback law that drives an autonomous robotic vehicle to follow a target vehicle using an on-line estimate of the ...

Springer-Verlag Berlin2015

Model-Based Derivation, Analysis and Control of Unstable Microaerobic Steady-States-Considering Rhodospirillum rubrum as an Example

Timm Faulwasser

Microaerobic (oxygen-limited) conditions are critical for inducing many important microbial processes in industrial or environmental applications. At very low oxygen concentrations, however, the process performance often suffers from technical limitations. ...

Wiley-Blackwell2014

FH HES Optimization of Chemical Reactor Feed by Simulations Based on a Kinetic Approach

Thierry Meyer, Francis Stoessel, Charles Ibrahim Guinand

Chemical incidents are typically caused by loss of control, resulting in runaway reactions or process deviations in different stages of the production. In the case of fed-batch reactors, the problem generally encountered is the accumulation of heat. This i ...

Schweizerische Chemische Gesellschaft2014

Open-loop control of a separated boundary layer

François Gallaire, Edouard Boujo

Linear optimal gains

G_{opt}(\omega)

are computed for the separated boundary-layer flow past a two-dimensional bump in the subcritical regime. Very large values are found, making it possible for small-amplitude noise to be strongly amplified and to desta ...

Elsevier France-Editions Scientifiques Medicales Elsevier2014

Open-loop control of a separated boundary layer

François Gallaire, Edouard Boujo

Linear optimal gains

G_opt(\omega)

are computed for the separated boundary-layer flow past a two-dimensional bump in the subcritical regime. Very large values are found, making it possible for small-amplitude noise to be strongly amplified and to destabi ...

Cépaduès Editions2013

Control of Dynamic Gaits for a Quadrupedal Robot

Roland Siegwart, Marco Hutter

Quadrupedal animals move through their environments with unmatched agility and grace. An important part of this is the ability to choose between different gaits in order to travel optimally at a certain speed or to robustly deal with unanticipated perturba ...

2013

Optic-flow-based Altitude and Forward Speed Regulation using Stereotypical Lateral Movements

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Stochastic learning and control in multiple coordinate systems

In a demanding task, three-handed manipulation is preferred to two-handed manipulation

Plug-and-Play distributed model predictive control with coupling attenuation

Gaussian Processes for System Identification, Control and Optimisation

Optimization Based Control for Target Estimation and Tracking via Highly Observable Trajectories An Application to Motion Control of Autonomous Robotic Vehicles

Model-Based Derivation, Analysis and Control of Unstable Microaerobic Steady-States-Considering Rhodospirillum rubrum as an Example

FH HES Optimization of Chemical Reactor Feed by Simulations Based on a Kinetic Approach

Open-loop control of a separated boundary layer

Open-loop control of a separated boundary layer

Control of Dynamic Gaits for a Quadrupedal Robot

Optimization Based Control for Target Estimation and Tracking via Highly Observable Trajectories An Application to Motion Control of Autonomous Robotic Vehicles

Plug-and-Play distributed model predictive control with coupling attenuation

Stochastic learning and control in multiple coordinate systems

Gaussian Processes for System Identification, Control and Optimisation

Model-Based Derivation, Analysis and Control of Unstable Microaerobic Steady-States-Considering Rhodospirillum rubrum as an Example

Open-loop control of a separated boundary layer

FH HES Optimization of Chemical Reactor Feed by Simulations Based on a Kinetic Approach

In a demanding task, three-handed manipulation is preferred to two-handed manipulation

Control of Dynamic Gaits for a Quadrupedal Robot

Open-loop control of a separated boundary layer