Name
Abstract | ||
|---|---|---|
Projection operators are widely employed in multi-objective robot control. It is an open research question how to achieve continuous transitions between different idem-potent projectors which is required for dynamic task priority rearrangement. We formalize projection shaping, providing a solution to deal with rank changes in a smooth fashion. Furthermore, we derive meaningful shaping operators and show that damped least squares is a special case of our general formulation. Finally, we extend the Stack-of-Tasks prioritization scheme for continuous priority rearrangement of single task dimensions. Simulation results validate our approach. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/IROS.2018.8593400 | 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Field | DocType | ISSN |
Least squares,Open research,Robot control,Mathematical optimization,Task analysis,Computer science,Control engineering,Operator (computer programming),Robot,Idempotence,Special case | Conference | 2153-0858 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Niels Dehio | 1 | 3 | 2.45 |
| Daniel Kubus | 2 | 48 | 9.02 |
| Jochen J. Steil | 3 | 910 | 87.50 |