V
主页
(RSS'24) MPCC++：具有安全约束的时间最优飞行的模型预测轮廓控制
发布人
https://www.youtube.com/watch?v=sbKe9emghtM MPCC++: Model Predictive Contouring Control for Time-Optimal Flight with Safety Constraints Abstract Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization problems such as drone racing. However, the standard MPCC formulation used in quadrotor racing introduces the notion of the gates directly in the cost function, creating a multi-objective optimization that continuously trades off between maximizing progress and tracking the path accurately. This paper introduces three key components that enhance the state-of-the-art MPCC approach for drone racing. First and foremost, we provide safety guarantees in the form of a track constraint and terminal set. The track constraint is designed as a spatial constraint which prevents gate collisions while allowing for time optimization only in the cost function. Second, we augment the existing first principles dynamics with a residual term that captures complex aerodynamic effects and thrust forces learned directly from real-world data. Third, we use Trust Region Bayesian Optimization (TuRBO), a state-of-the-art global Bayesian Optimization algorithm, to tune the hyperparameters of the MPCC controller given a sparse reward based on lap time minimization. The proposed approach achieves similar lap times to the best-performing RL policy and outperforms the best model-based controller while satisfying constraints. In both simulation and real world, our approach consistently prevents gate crashes with 100% success rate, while pushing the quadrotor to its physical limits reaching speeds of more than 80km/h. https://arxiv.org/html/2403.17551v2
打开封面
下载高清视频
观看高清视频
视频下载器
RSS'2024 | MPCC++：升级无人驾驶安全盾牌,首次在现实中达到100%防撞率
具有闭合/并行运动链的人形机器人的全身控制WBC：袋鼠案例研究
(RA-L 23)动态环境中自主避碰的安全感知
通过优化理论指导设计双足以达到控制和任务的最优
MuJoCo 仿真 案例欣赏
控制理论学习路线图
ICRA 24 Convergent iLQR for Safe Trajectory Planning and Control of Legged Robot
腿式机器人的多接触惯性估计与定位 [论文在审稿中]
俄国佬试图开枪自裁，但卡壳，他花了很长时间才清理干净。后来，他把一颗子弹射进天灵盖，但即使在这里，他也没有成功，即使在收到一枚手榴弹作为奖励后也痛苦了很长时间
WRC2024 逐际动力 P1 地形适应 Live Demo
浙江大学最新 | BEVPlace++：激光雷达全局定位方法，超越当前SOTA！泛化性能极佳
使用共轴倾转旋翼机自主推动重物
(T-RO 24)Tube Acceleration:Robust Dexterous Throwing against Release Uncertainty
TinyMPC model-predictive-control-on-resource-constrained-microcontrollers
MIT Mini-Cheetahs looking for a new home
(ICRA 2024) 腹腔镜手术基础的模仿学习
真牛！这个人形机器人吊打很多厂家的“产品”
ETH最新论文 重新思考鲁棒性评估: 基于学习的四足运动控制的对抗性攻击
IEEE'24 | 缩短1倍！南开最新基于动态拓扑图的多无人机探索框架!
印度的四足机器人 看着还可以哦
(Talk ICRA 2024) Actor-Critic Model Predictive Control
Nature 智能机器'24-7-封面，使用强化学习和生成预训练AI模型，举一反三，实现四足机器人逼真的敏捷性和游戏性!
强化学习玩王者荣耀_创建环境
SLoMo: A General System for Legged Robot Motion Imitation from Casual Videos
鄂木斯克炼油厂发生爆炸和火灾，乌克兰无人机可能已经越过了乌拉尔山脉
具有概率监督的端到端定位的 2D-3D 跨模态网络
NASA’s first humanoid robot Valkyrie is being tested in Australia
qpSWIFT : A Real-time Sparse Quadratic Program Solver for Robotic Applications
Impact-Aware Bimanual Catching of Large-Momentum Objects
你感觉到机器人的恐怖如斯了吗？未来已来
Testing of the Robotic Canine _ British Army
钓鱼佬果然牛逼，攻击11低空飞行都被拍到了。攻击11是高空隐身无人机，这个隐身指的是雷达，不是肉眼目视隐身
(IROS 2023) 浮动基座机器人本体感受外部力矩学习及其在类人运动中的应用
(RA-L 24)Dynamic Mobile Manipulation via Whole-Body Teleoperation of a Humanoid
[RA-L 2020] Object Recognition, Contact Simulation, Detection, and Control
人形机器人远程视觉操纵
Online trajectory optimization for dynamic aerial motions of a quadruped robot
Control is dead ？control+ learning才是未来
CMU 开源四足机器人运动控制及仿真代码 Quad-SDK
强化学习控制，端到端，PPO算法，神经网络控制，SImulink可编程，PX4小无人机飞控，硬件在环仿真到实物飞行
