Publications related to Robust and Agile 3D Biped Walking With Steering Capability Using a Footstep Predictive Approach

Violation-aware contextual Bayesian optimization for controller performance optimization with unmodeled constraints

Colin Neil Jones, Wenjie Xu, Bratislav Svetozarevic

We study the problem of performance optimization of closed -loop control systems with unmodeled dynamics. Bayesian optimization (BO) has been demonstrated to be effective for improving closed -loop performance by automatically tuning controller gains or re ...

Elsevier Sci Ltd2024

Data-Driven Control Synthesis using Koopman Operator: A Robust Approach

Alireza Karimi, Mert Eyuboglu, Nathan Russell Powell

This paper proposes a data-driven control design method for nonlinear systems that builds upon the Koopman operator framework. In particular, the Koopman operator is used to lift the nonlinear dynamics to a higher-dimensional space where the so-called obse ...

2024

Frequency domain data-driven robust and optimal control

Philippe Louis Schuchert

The goal of this thesis is to propose pragmatic solutions to real challenges faced in the industry. The scope of this thesis encompasses two subjects: frequency-based structured controller synthesis for linear time-invariant (LTI) systems on one side, and ...

EPFL2024

Online Multicontact Receding Horizon Planning via Value Function Approximation

Sylvain Calinon, Teguh Santoso Lembono

Planning multicontact motions in a receding horizon fashion requires a value function to guide the planning with respect to the future, e.g., building momentum to traverse large obstacles. Traditionally, the value function is approximated by computing traj ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Koopman-based Data-driven Robust Control of Nonlinear Systems Using Integral Quadratic Constraints

Alireza Karimi, Mert Eyuboglu

This paper introduces a novel method for data-driven robust control of nonlinear systems based on the Koopman operator, utilizing Integral Quadratic Constraints (IQCs). The Koopman operator theory facilitates the linear representation of nonlinear system d ...

2024

Unified Harmonic Power-Flow and Stability Analysis of Power Grids with Converter-Interfaced Distributed Energy Resources

Johanna Kristin Maria Becker

Modern power distribution systems are experiencing a large-scale integration of Converter-Interfaced Distributed Energy Resources (CIDERs). Their presence complicates the analysis and mitigation of harmonics, whose creation and propagation may be amplified ...

EPFL2024

An Iterative Adaptive Dynamic Programming Approach for Macroscopic Fundamental Diagram-Based Perimeter Control and Route Guidance

Nikolaos Geroliminis, Can Chen

Macroscopic fundamental diagrams (MFDs) have been widely adopted to model the traffic flow of large-scale urban networks. Coupling perimeter control and regional route guidance (PCRG) is a promising strategy to decrease congestion heterogeneity and reduce ...

Informs2024

Exact Obstacle Avoidance for Robots in Complex and Dynamic Environments Using Local Modulation

Lukas Huber

Robots outside of the fenced factories have to deal with continuously changing environment, this requires fast and flexible modes of control. Planning methods or complex learning models can find optimal paths in complex surroundings, but they are computati ...

EPFL2024

Robot Learning using Tensor Networks

Suhan Narayana Shetty

In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...

EPFL2024

Distributed Predictive Formation Control of Autonomous Rotary-Wing Micro Aerial Vehicles

Izzet Kagan Erünsal

This doctoral thesis navigates the complex landscape of motion coordination and formation control within teams of rotary-wing Micro Aerial Vehicles (MAVs). Prompted by the intricate demands of real-world applications such as search and rescue or surveillan ...

EPFL2024

Critical degeneracy in a nonlinear hyperbolic equation can produce atypical instability

Charles Stuart

This paper deals with the initial value problem for a semilinear wave equation on a bounded domain and solutions are required to vanish on the boundary of this domain. The essential feature of the situation considered here is that the ellipticity of the sp ...

2024

Accurate and agile flight with winged drones

Valentin Wüest

Drones hold promise to assist in civilian tasks. To realize this application, future drones must operate within large cities, covering large distances while navigating within cluttered urban landscapes. The increased efficiency of winged drones over rotary ...

EPFL2024

Geometric Learning: Leveraging differential geometry for learning and control

Bernardo Fichera

In this thesis, we concentrate on advancing high-level behavioral control policies for robotic systems within the framework of Dynamical Systems (DS). Throughout the course of this research, a unifying thread weaving through diverse fields emerges, and tha ...

EPFL2024

Stability: a search for structure

Wouter Jongeneel

In this thesis we study stability from several viewpoints. After covering the practical importance, the rich history and the ever-growing list of manifestations of stability, we study the following. (i) (Statistical identification of stable dynamical syste ...

EPFL2024

Investigating neural resource allocation in the sensorimotor control of extra limbs

Giulia Dominijanni

The rise of robotic body augmentation brings forth new developments that will transform robotics, human-machine interaction, and wearable electronics. Extra robotic limbs, although building upon restorative technologies, bring their own set of challenges i ...

EPFL2024

Memento Mori: Reliable robustness in self-reconfigurable modular robots

Kevin Andrew Holdcroft

Modular robotics link the reliability of a centralised system with the adaptivity of a decentralised system. It is difficult for a robot with a fixed shape to be able to perform many different types of tasks. As the task space grows, the number of functi ...

EPFL2024

Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots

Alcherio Martinoli, Wanting Jin

Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurements ...

2024

Modeling and optimization of PCB coils for inductive power transfer systems

Xiaotong Du

The auxiliary power supply for medium voltage converters requires high insulation capability between the source and the load. Inductive power transfer technology, with an air gap between the primary and secondary coil, offers such high insulation capabilit ...

EPFL2024

Soft Robot Shape Estimation With IMUs Leveraging PCC Kinematics for Drift Filtering

Josephine Anna Eleanor Hughes, Francesco Stella

The control possibilities for soft robots have long been hindered by the need for reliable methods to estimate their configuration. Inertial measurement units (IMUs) can solve this challenge, but they are affected by well-known drift issues. This letter pr ...

Ieee-Inst Electrical Electronics Engineers Inc2024

Data-Driven Control and Optimization under Noisy and Uncertain Conditions

Baiwei Guo

Control systems operating in real-world environments often face disturbances arising from measurement noise and model mismatch. These factors can significantly impact the perfor- mance and safety of the system. In this thesis, we aim to leverage data to de ...

EPFL2023