Direct and indirect methods for trajectory optimization
- O. V. Stryk, R. Bulirsch
- MathematicsAnnals of Operations Research
A special direct collocation method that can be used in combination with multiple shooting and a hybrid approach to improve the low accuracy of the direct methods and to increase the convergence areas of the indirect methods are presented.
Hector Open Source Modules for Autonomous Mapping and Navigation with Rescue Robots
- S. Kohlbrecher, Johannes Meyer, T. Graber, K. Petersen, U. Klingauf, O. V. Stryk
- Computer ScienceRobot Soccer World Cup
- 24 June 2013
This paper presents related open source software modules for the development of such complex capabilities which include hector_slam for self-localization and mapping in a degraded urban environment.
Introduction to Model Based Optimization of Chemical Processes on Moving Horizons
- T. Binder, L. Blank, O. V. Stryk
- Computer Science
This contribution provides a concise introduction into problem formulation and standard numerical techniques commonly found in the context of moving horizon optimization using nonlinear differential algebraic process models.
Human-robot collaborative high-level control with application to rescue robotics
- Philipp Schillinger, S. Kohlbrecher, O. V. Stryk
- Computer ScienceIEEE International Conference on Robotics and…
- 16 May 2016
An approach for definition and execution of complex robot behaviors based on hierarchical state machines is presented, allowing to flexibly change the structure of behaviors on the fly during runtime through assistance of a remote operator.
User's guide for DIRCOL (Version 2.1): a direct collacation method for the numerical solution of optimal control problems
- O. V. Stryk
- Computer Science
Comprehensive Simulation of Quadrotor UAVs Using ROS and Gazebo
- Johannes Meyer, A. Sendobry, S. Kohlbrecher, U. Klingauf, O. V. Stryk
- Computer ScienceSimulation, Modeling, and Programming for…
- 5 November 2012
A system for the comprehensive simulation of quadrotor UAVs is presented, integrated with ROS and the Gazebo simulator, which allows simultaneous simulation of diverse aspects such as flight dynamics, onboard sensors like IMUs, external imaging sensors and complex environments.
Numerical Solution of Optimal Control Problems by Direct Collocation
- O. V. Stryk
By an appropriate discretization of control and state variables, a constrained optimal control problem is transformed into a finite dimensional nonlinear program which can be solved by standard…
BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications
- Thomas Lens, J. Kunz, O. V. Stryk, C. Trommer, A. Karguth
- 7 June 2010
This work presents how the BioRob robot arm is based on a combination of compliant actuation and lightweight mechanical design to obtain the flexibility, mobility and, most important, the inherent safety properties needed to implement effective and safe service robotics applications.
Vision based victim detection from unmanned aerial vehicles
- M. Andriluka, Paul Schnitzspan, B. Schiele
- Computer ScienceIEEE/RSJ International Conference on Intelligent…
- 3 December 2010
This paper evaluates various state-of-the-art visual people detection methods in the context of vision based victim detection from an UAV and concludes that the top performing approaches are those that rely on flexible part-based representations and discriminatively trained part detectors.
Modelling and simulation of electro- and magnetorheological fluid dampers
- T. Butz, O. V. Stryk
Electro- and magnetorheological fluids are smart, synthetic fluids changing their viscosity from liquid to semi-solid state within milliseconds if a sufficiently strong electric or magnetic field is…