Virtual Reality (VR) environments are used as a way to let humans experiment with algorithms, techniques, and situations in various application areas, including emergency management, serious games, smart manufacturing, and precision agriculture. They are especially relevant when experiments in the...
04b Atto di convegno in volume
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Task planning for robots in real-life settings presents significant challenges. These challenges stem from three primary issues: the difficulty in identifying grounded sequences of steps to achieve a goal; the lack of a standardized mapping between high-level actions and low-level commands; and the...
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In-Space Manufacturing (ISM) involves the production of goods directly in the space environment. This is a paradigm shift from traditional Earth-based manufacturing. The paper aims to identify a structured research pathway to assess the opportunities of ISM from a supply chain perspective....
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In the looming paradigm shift from linear to circular economy (CE) the road map for companies is fraught with challenges to integrate circular targets into business strategy. The transition to a circular model requires the company to upskill and/or reskill additional capabilities for transiting to...
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The European Union (EU) action plan, stated in Agenda 2050, provides directions for empowering consumers as active participants of sustainable transition. Accordingly, companies are called to support consumers in making sustainable choices by providing them with full access to reliable information...
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The roadmap towards a more sustainable production and consumption model calls for the active role of consumers. To engage consumers as active participants in the sustainable transition, companies are called upon to support them in making sustainable purchasing decisions. To this end, companies must...
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This paper presents a novel method to maintain the dynamic balance of a Mobile Manipulator (MM) during the pick-up of heavy objects. The approach entails the generation of a preliminary reach-to-grasp trajectory, which is subsequently refined by an Optimization-Based Controller (OBC) formulated as...
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This paper proposes a vision-based control scheme for safe robot navigation in crowded environments. Unlike traditional methods relying on LiDAR or laser rangefinders, our approach leverages an RGB-D camera to capture rich visual information about the surroundings, allowing for a more comprehensive...
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We propose an effective whole-body MPC controller for locomotion of humanoid robots. Our method generates motions using the full kinematics, allowing it to account for joint limits and to exploit upper-body motions to reject disturbances. Each MPC iteration solves a single QP that considers the...
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We propose an MPC-based decentralized scheme for cooperative transportation between two agents. One agent, the leader, can be either a human or a robot with knowledge of the task. The other, the follower, has no knowledge of the task, and must autonomously decide how to move based on the perceived...