04b Atto di convegno in volume
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In this paper, a new control scheme for sampled-data nonlinear model predictive control is proposed making use of a multi-rate based trajectory planning for designing admissible references over the prediction horizon. The proposed controller is compared with existing reference generators for model...
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The paper discusses the modeling and control of port-controlled Hamiltonian dynamics in a pure discrete-time domain. The main result stands in a novel differential-difference representation of discrete port-controlled Hamiltonian systems using the discrete gradient. In these terms, a passive output...
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The paper discusses the preservation of u-average passivity throughout suitable interconnection. The concept of power preserving connection is introduced. It is instrumental to ensure u-average passivity of the interconnected system with respect to new external controls.
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Gesture-based communication is commonly used by soccer players during matches to exchange information with teammates. Among the possible forms of gesture-based interaction, hand signals are the most used. In this paper, we present a deep learning method for recognizing robot-to-robot hand signals...
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In multi-robot reinforcement learning the goal is to enable a team of robots to learn a coordinated behavior from direct interaction with the environment. Here, we provide a comparison of the two main approaches to tackle this challenge, namely independent learners (IL) and joint-action learners (...