Cafe-Mpc:具有免调谐全身控制功能的级联保真度模型预测控制框架

IF 9.4 1区 计算机科学 Q1 ROBOTICS IEEE Transactions on Robotics Pub Date : 2024-11-21 DOI:10.1109/tro.2024.3504132
He Li, Patrick M. Wensing
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Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control
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来源期刊
IEEE Transactions on Robotics
IEEE Transactions on Robotics 工程技术-机器人学
CiteScore
14.90
自引率
5.10%
发文量
259
审稿时长
6.0 months
期刊介绍: The IEEE Transactions on Robotics (T-RO) is dedicated to publishing fundamental papers covering all facets of robotics, drawing on interdisciplinary approaches from computer science, control systems, electrical engineering, mathematics, mechanical engineering, and beyond. From industrial applications to service and personal assistants, surgical operations to space, underwater, and remote exploration, robots and intelligent machines play pivotal roles across various domains, including entertainment, safety, search and rescue, military applications, agriculture, and intelligent vehicles. Special emphasis is placed on intelligent machines and systems designed for unstructured environments, where a significant portion of the environment remains unknown and beyond direct sensing or control.
期刊最新文献
Cafe-Mpc: A Cascaded-Fidelity Model Predictive Control Framework with Tuning-Free Whole-Body Control Unified Guidance and Jerk-Level Dynamic Inversion for Accurate Position Control of Hybrid UAVs Grasp, See and Place: Efficient Unknown Object Rearrangement with Policy Structure Prior Collision Detection Between Convex Objects Using Pseudo-Distance and Unconstrained Optimization FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry
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