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Multiparty videoconferences, or more generally multiparty video calls, are gaining a lot of popularity as they offer a rich communication experience. These applications have, however, large requirements in terms of both network and computational resources ...
In this thesis, we present a Riemannian framework for the solution of high-dimensional optimization problems with an underlying low-rank tensor structure. Here, the high-dimensionality refers to the size of the search space, while the cost function is scal ...
This presentation discusses real-time optimization (RTO) strategies for improving process performance in the presence of uncertainty in the form of plant-model mismatch, drifts and disturbances. RTO typically uses a plant model to compute optimal inputs. I ...
This dissertation develops geometric variational models for different inverse problems in imaging that are ill-posed, designing at the same time efficient numerical algorithms to compute their solutions. Variational methods solve inverse problems by the fo ...
Although considering dynamics in the control of humanoid robots can improve tracking and compliance in agile tasks, it requires local and global states of the system, precise torque control and proper modeling. In this paper we discuss practical issues to ...
We consider an imitation learning approach to model robot point-to-point (also known as discrete or reaching) movements with a set of autonomous Dynamical Systems (DS). Each DS model codes a behavior (such as reaching for a cup and swinging a golf club) at ...
Solving a convex optimization problem within an a priori certified period of time is a challenging problem. This paper discusses the certification of Nesterov’s fast gradient method for problems with a strictly quadratic objective and a feasible set given ...
In this paper we compare three noninvasive control methods for a robotic knee exoskeleton and asses their kinematic influences on the repetitive squatting motions of able-bodied human subjects. The motion of the subjects wearing the knee exoskeleton was al ...
This paper addresses the problem of optimal grasping of an object with a multi-fingered robotic hand for accomplishing a given task. The task is first demonstrated by a human operator and its force/torque requirements are captured through the usage of a se ...
Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...
