no code implementations • 18 Mar 2024 • William P. Heath, Joaquin Carrasco
Multipliers can be used to guarantee both the Lyapunov stability and input-output stability of Lurye systems with time-invariant memoryless slope-restricted nonlinearities.
no code implementations • 17 Sep 2023 • Wenxing Liu, Hanlin Niu, Robert Skilton, Joaquin Carrasco
This paper proposes a self-supervised vision-based DRL method that allows robots to pick and place objects effectively and efficiently when directly transferring a training model from simulation to the real world.
no code implementations • 26 Feb 2023 • Wenxing Liu, Hanlin Niu, Wei Pan, Guido Herrmann, Joaquin Carrasco
Sim-and-real training is a promising alternative to sim-to-real training for robot manipulations.
no code implementations • 14 Dec 2021 • Lanlan Su, Peter Seiler, Joaquin Carrasco, Sei Zhen Khong
Roughly speaking, a successful proof of the conjecture would require: (a) a conic parameterization of a set of multipliers that describes exactly the set of nonlinearities, (b) a lossless S-procedure to show that the non-existence of a multiplier implies that the Lurye system is not uniformly robustly stable over the set of nonlinearities, and (c) the existence of a multiplier in the set of multipliers used in (a) implies the existence of an LTI multiplier.
1 code implementation • 21 Feb 2021 • Hanlin Niu, Ze Ji, Farshad Arvin, Barry Lennox, Hujun Yin, Joaquin Carrasco
An efficient training strategy is proposed to allow a robot to learn from both human experience data and self-exploratory data.
no code implementations • 21 Feb 2021 • Hanlin Niu, Ze Ji, Zihang Zhu, Hujun Yin, Joaquin Carrasco
This paper presents the development of a control system for vision-guided pick-and-place tasks using a robot arm equipped with a 3D camera.
1 code implementation • 7 Mar 2019 • Panagiotis Petsagkourakis, William P. Heath, Joaquin Carrasco, Constantinos Theodoropoulos
Conditions for input-output stability of barrier-based model predictive control of linear systems with linear and convex nonlinear (hard or soft) constraints are established through the construction of integral quadratic constraints (IQCs).
Systems and Control