Publications associées à Deep Koopman Operator-based degradation modelling

Publications associées (7)

A Dynamical System Approach to Decentralized Collision-free Autonomous Coordination of a Mobile Assistive Furniture Swarm

Auke Ijspeert, Aude Billard, Lukas Huber, Anastasia Bolotnikova

In order to facilitate and assist the indoor mobility of people with special needs, the classically static objects in the environment, such as furniture, can be rendered mobile. The need for efficient and safe autonomous coordination of a mobile furniture ...

IEEE2022

Chance-Constrained Trajectory Planning With Multimodal Environmental Uncertainty

Kai Ren, Maryam Kamgarpour

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 t ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Load-induced dynamical transitions at graphene interfaces

Gabriel Aeppli

The structural superlubricity (SSL), a state of near-zero friction between two contacted solid surfaces, has been attracting rapidly increasing research interest since itwas realized in microscale graphite in 2012. An obvious question concerns the implicat ...

National Academy of Sciences2020

Noether's theorem for dissipative quantum dynamical semi-groups

Tudor Ratiu

Noether's theorem on constants of the motion of dynamical systems has recently been extended to classical dissipative systems (Markovian semi-groups) by Baez and Fong [J. Math. Phys. 54, 013301 (2013)]. We show how to extend these results to the fully quan ...

Amer Inst Physics2015

Towards simple control for complex, autonomous robotic applications: Combining discrete and rhythmic motor primitives

Auke Ijspeert, Ludovic Righetti, Sarah Dégallier Rochat, Sébastien Gay

Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements re ...

Springer Verlag2011

Flexible beam in R3 under large overall motions and Asynchronous Variational Integrators

Tudor Ratiu, Yves Weinand, François Gay-Balmaz, François Marie Alain Demoures

The theory of discrete variational mechanics has its roots in the optimal control literature of the 1960's. The past ten years have seen a major development of discrete variational mechanics and corresponding numerical integrators, due largely to pioneerin ...

IABSE ETH Zurich2011

Velocity-Scheduling Control for a Unicycle Mobile Robot: Theory and Experiments

Dominique Bonvin, Philippe Müllhaupt, Davide Buccieri, Damien Perritaz

Improvement over classical dynamic feedback linearization for a unicycle mobile robots is proposed. Compared to classical extension, the technique uses a higher-dimensional state extension, which allows rejecting a constant disturbance on the robot rotatio ...

2009