Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Resolve reactive robot control with perturbed constraints using a second order cone programming approach
KTH, School of Industrial Engineering and Management (ITM), Production Engineering.ORCID iD: 0000-0002-4032-4830
KTH, School of Industrial Engineering and Management (ITM), Production Engineering, Production Systems.ORCID iD: 0000-0001-8679-8049
2017 (English)In: 2017 13TH IEEE CONFERENCE ON AUTOMATION SCIENCE AND ENGINEERING (CASE), IEEE , 2017, p. 124-129Conference paper, Published paper (Refereed)
Abstract [en]

As a modular and reactive control approach, constraint-based programming helps us to formulate and solve complex robotic tasks in a systematic way. In different fields ranging from industrial manipulators to humanoids, robots are supposed to work in an uncertain environment. However, how to address uncertainties is missing in the state-of-the-art of different constraint-based programming frameworks. In this paper, we introduce a Second Order Cone Programming (SOCP) approach to integrate constraints with norm bounded uncertainties. The proposed SOCP is convex and through simulations with controlled uncertainty level, we can clearly tell that the proposed approach guarantees the constraints satisfaction compared to the state-of-the-art.

Place, publisher, year, edition, pages
IEEE , 2017. p. 124-129
Series
IEEE International Conference on Automation Science and Engineering, ISSN 2161-8070
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-228172DOI: 10.1109/COASE.2017.8256091ISI: 000428014600025Scopus ID: 2-s2.0-85044940949ISBN: 978-1-5090-6781-7 OAI: oai:DiVA.org:kth-228172DiVA, id: diva2:1209283
Conference
13th IEEE Conference on Automation Science and Engineering (IEEE CASE), AUG 20-23, 2017, Xian, PEOPLES R CHINA
Note

QC 20180522

Available from: 2018-05-22 Created: 2018-05-22 Last updated: 2018-05-23Bibliographically approved

Open Access in DiVA

No full text in DiVA

Other links

Publisher's full textScopus

Authority records BETA

Wang, YuquanWang, Lihui

Search in DiVA

By author/editor
Wang, YuquanWang, Lihui
By organisation
Production EngineeringProduction Systems
Robotics

Search outside of DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric score

doi
isbn
urn-nbn
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf