Constrained trajectory optimization and force control for UAVs with universal jamming grippers
Sign Up to like & getrecommendations! Published in 2024 at "Scientific Reports"
DOI: 10.1038/s41598-024-62416-1
Abstract: This study presents a novel framework that integrates the universal jamming gripper (UG) with unmanned aerial vehicles (UAVs) to enable automated grasping with no human operator in the loop. Grounded in the principles of granular… read more here.
Keywords: control; force control; constrained trajectory; trajectory optimization ... See more keywords
Constrained trajectory simplification with speed preservation
Sign Up to like & getrecommendations! Published in 2019 at "Cartography and Geographic Information Science"
DOI: 10.1080/15230406.2019.1618200
Abstract: ABSTRACT The rapid increase in movement trajectory data causes data storage, transmission, computational processing, and visualization problems. These issues can be alleviated through trajectory simplification, which removes unnecessary details from raw trajectories. Most existing studies… read more here.
Keywords: trajectory simplification; position; speed; constrained trajectory ... See more keywords
Chance-Constrained Trajectory Planning With Multimodal Environmental Uncertainty
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Control Systems Letters"
DOI: 10.1109/lcsys.2022.3186269
Abstract: We tackle safe trajectory planning under Gaussian mixture model (GMM) uncertainty. Specifically, we use a GMM to model the multimodal behaviors of obstacles’ uncertain states. Then, we develop a mixed-integer conic approximation to the chance-constrained… read more here.
Keywords: trajectory planning; constrained trajectory; uncertainty; chance constrained ... See more keywords