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Ajay Sathya
Ajay Sathya
PostDoc @ Willow, Inria Paris, France
Bestätigte E-Mail-Adresse bei inria.fr
Titel
Zitiert von
Zitiert von
Jahr
Embedded nonlinear model predictive control for obstacle avoidance using PANOC
A Sathya, P Sopasakis, R Van Parys, A Themelis, G Pipeleers, P Patrinos
2018 European control conference (ECC), 1523-1528, 2018
1072018
Real-time robot arm motion planning and control with nonlinear model predictive control using augmented lagrangian on a first-order solver
AS Sathya, J Gillis, G Pipeleers, J Swevers
2020 European Control Conference (ECC), 507-512, 2020
152020
A Weighted Method for Fast Resolution of Strictly Hierarchical Robot Task Specifications Using Exact Penalty Functions
AS Sathya, G Pipeleers, W Decré, J Swevers
IEEE Robotics and Automation Letters 6 (2), 3057-3064, 2021
42021
An Efficient Constrained Dynamics Algorithm based on an Equivalent LQR Formulation using Gauss’ Principle of Least Constraint
AS Sathya, H Bruyninckx, W Decré, G Pipeleers
42nd Benelux Meeting on Systems and Control, Date: 2023/03/21-2023/03/23 …, 2023
32023
Fatrop: A fast constrained optimal control problem solver for robot trajectory optimization and control
L Vanroye, A Sathya, J De Schutter, W Decré
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2023
22023
Tasho: A Python Toolbox for Rapid Prototyping and Deployment of Optimal Control Problem-Based Complex Robot Motion Skills
AS Sathya, A Astudillo, J Gillis, W Decré, G Pipeleers, J Swevers
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2022
22022
A Simple Formulation for Fast Prioritized Optimal Control of Robots using Weighted Exact Penalty Functions
AS Sathya, W Decre, G Pipeleers, J Swevers
2022 International Conference on Robotics and Automation (ICRA), 5262-5269, 2022
22022
A Web-Based Graphical User Interface for Programming Optimal Control Based Robot Motion Tasks
A Astudillo, A Sathya, D Dirckx, W Decré, J Gillis, G Pipeleers, J Swevers
IFAC-PapersOnLine 55 (27), 120-125, 2022
22022
Safe-Planner: A Single-Outcome Replanner for Computing Strong Cyclic Policies in Fully Observable Non-Deterministic Domains
V Mokhtari, AS Sathya, N Tsiogkas, W Decré
2021 20th International Conference on Advanced Robotics (ICAR), 974-981, 2021
22021
PV-OSIMr: A Lowest Order Complexity Algorithm for Computing the Delassus Matrix
AS Sathya, W Decré, J Swevers
arXiv preprint arXiv:2310.03676, 2023
12023
Task and motion planning in fully observable non-deterministic domains
A Sathya, V Mokhtari, W Decré, J De Schutter
5th Workshop on Learning (in) Task and Motion Planning at Robotics: Science …, 2020
12020
Planning for cyclic safe solutions in fully observable non-deterministic robotic tasks
V Mokhtari, A Sathya, W Decré, G Borghesan, M Vochten
4th Workshop on Semantic Policy and Action Representations for Autonomous …, 2019
12019
Constrained Articulated Body Dynamics Algorithms
A Sathya, J Carpentier
2024
Towards Efficient Computation and Simplified Specification of Declaratively Specified Robot Motion Skills
AS Sathya, G Pipeleers, J Swevers, W Decré
2023
An Efficient Constrained Dynamics Algorithm based on an Equivalent LQR Formulation using Gauss' Principle of Least Constraint
AS Sathya, H Bruyninckx, W Decré, G Pipeleers
https://doi.org/10.5281/zenodo.7243049, 2022
2022
Model predictive control toolchain for constraint-based task specification of robot motions
AS Sathya, J Gillis, G Pipeleers, W Decré, J Swevers
39th Benelux Meeting on Systems and Control, Date: 2020/03/10-2020/03/12 …, 2020
2020
Heuristics-based fast redundancy resolution for motion generation in multi-robot manipulator systems
AS Sathya, G Pipeleers, W Decré
38th Benelux Meeting on Systems and Control, Date: 2019/03/19-2019/03/21 …, 2019
2019
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