The state-of-the-art modern pose-graph optimization (PGO) systems are vertex based. In this context, the number of variables might be high, albeit the number of cycles in the graph (loop closures) is relatively low. For sparse problems particularly, the cycle space has a significantly smaller...
01a Articolo in rivista
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We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we propose several safety behaviors, classified in three categories, i.e., override, temporary override, and proactive. Activation and deactivation...
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In order to guarantee precision and safety in robotic surgery, accurate models of the robot and proper control strategies are needed. Bayesian Neural Networks (BNN) are capable of learning complex models and provide information about the uncertainties of the learned system. Model Predictive Control...
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The aim of this paper is to clarify the state-of-the-art of literature about Servitization and Product Service System, by conducting a comprehensive and all-around selection and analysis of contributions from different streams of research. These topics attracted a growing amount of research effort...
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We present a complete framework for the safe deployment of humanoid robots in environments containing humans. Proceeding from some general guidelines, we propose several safety behaviors, classified in three categories, i.e., override, temporary override, and proactive. Activation and deactivation...
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In order to guarantee precision and safety in robotic surgery, accurate models of the robot and proper control strategies are needed. Bayesian Neural Networks (BNN) are capable of learning complex models and provide information about the uncertainties of the learned system. Model Predictive Control...
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In this paper, we study the convergence of a block-coordinate incremental gradient method. Under some specific assumptions on the objective function, we prove that the block-coordinate incremental gradient method can be seen as a gradient method with errors and convergence can be proved by showing...
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This letter discusses stochastic optimal control of an energy storage system (ESS) for reducing the impact on the grid of fast charging of electric vehicles in a charging area. A trade off is achieved between the objectives of limiting the charging power exchanged with the grid, and the one of...
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In order to guarantee precision and safety in robotic surgery, accurate models of the robot and proper control strategies are needed. Bayesian Neural Networks (BNN) are capable of learning complex models and provide information about the uncertainties of the learned system. Model Predictive Control...
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