Karel Zimmermann — Page 2

arXiv2016

Controlling Robot Morphology from Incomplete Measurements

Mobile robots with complex morphology are essential for traversing rough terrains in Urban Search & Rescue missions (USAR). Since teleoperation of the complex morphology causes high cognitive load of the operator, the morphology is controlled autonomously. The autonomous control measures the robot state and surrounding terrain which is usually only partially observable, and thus the data are often incomplete. We marginalize the control over the missing measurements and evaluate an explicit safety condition. If the safety condition is violated, tactile terrain exploration by the body-mounted robotic arm gathers the missing data.

cs.RO↗

arXiv2013

Direct solutions to tropical optimization problems with nonlinear objective functions and boundary constraints

We examine two multidimensional optimization problems that are formulated in terms of tropical mathematics. The problems are to minimize nonlinear objective functions, which are defined through the multiplicative conjugate vector transposition on vectors of a finite-dimensional semimodule over an idempotent semifield, and subject to boundary constraints. The solution approach is implemented, which involves the derivation of the sharp bounds on the objective functions, followed by determination of vectors that yield the bound. Based on the approach, direct solutions to the problems are obtained in a compact vector form. To illustrate, we apply the results to solving constrained Chebyshev approximation and location problems, and give numerical examples.

math.OC↗