On-Line Learning for Planning and Control of Underactuated Robots With Uncertain Dynamics.
Giulio TurrisiMarco CapotondiClaudio GazValerio ModugnoGiuseppe OrioloAlessandro De LucaPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- receding horizon
- mechanical systems
- robot control
- formation control
- motion planning
- robot teams
- robotic systems
- autonomous robots
- mobile robot
- air fuel ratio
- multi robot
- autonomous systems
- multiple robots
- control system
- guaranteed cost
- unstructured environments
- decision making
- motion control
- robotic agents
- robot behavior
- distributed control
- cooperative
- highly nonlinear
- nonlinear dynamics
- humanoid robot
- dynamical systems
- search and rescue
- optimal linear
- physical constraints
- robust stability
- collision free
- external disturbances
- real time control
- industrial robots
- control method
- quadruped robot
- heuristic search