We consider the known phenomenon of torque oscillations and motion instabilities that occur in redundant robots during the execution of sufficiently long Cartesian trajectories when the joint torque is instantaneously minimized. In the framework of online local redundancy resolution methods, we...
01a Articolo in rivista
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Symbolic execution is a popular program analysis technique that allows seeking for bugs by reasoning over multiple alternative execution states at once. As the number of states to explore may grow exponentially, a symbolic executor may quickly run out of space. For instance, a memory access to a...
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Europcar, the leading European car rental company, partnered with ACT Operations Research to develop Opticar, an innovative decision support system. The system uses forecasting, discrete-event simulation, and optimization (solved with metaheuristic algorithms) to provide an integrated approach to...
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This paper studies the problem of recursive state estimation of stochastic linear systems with nonlinear measurements. The main idea is to rewrite the measurement map in a linear form by considering, as system output, a vector of “virtual” measurements. The result is a linear system with a non-...
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