Search Results for author: Joaquin Carrasco

Found 7 papers, 2 papers with code

Multiplier analysis of Lurye systems with power signals

no code implementations18 Mar 2024 William P. Heath, Joaquin Carrasco

Multipliers can be used to guarantee both the Lyapunov stability and input-output stability of Lurye systems with time-invariant memoryless slope-restricted nonlinearities.

Sim-to-Real Deep Reinforcement Learning with Manipulators for Pick-and-place

no code implementations17 Sep 2023 Wenxing Liu, Hanlin Niu, Robert Skilton, Joaquin Carrasco

This paper proposes a self-supervised vision-based DRL method that allows robots to pick and place objects effectively and efficiently when directly transferring a training model from simulation to the real world.


On the Necessity and Sufficiency of Discrete-Time O'Shea-Zames-Falb Multipliers

no code implementations14 Dec 2021 Lanlan Su, Peter Seiler, Joaquin Carrasco, Sei Zhen Khong

Roughly speaking, a successful proof of the conjecture would require: (a) a conic parameterization of a set of multipliers that describes exactly the set of nonlinearities, (b) a lossless S-procedure to show that the non-existence of a multiplier implies that the Lurye system is not uniformly robustly stable over the set of nonlinearities, and (c) the existence of a multiplier in the set of multipliers used in (a) implies the existence of an LTI multiplier.

Accelerated Sim-to-Real Deep Reinforcement Learning: Learning Collision Avoidance from Human Player

1 code implementation21 Feb 2021 Hanlin Niu, Ze Ji, Farshad Arvin, Barry Lennox, Hujun Yin, Joaquin Carrasco

An efficient training strategy is proposed to allow a robot to learn from both human experience data and self-exploratory data.

Collision Avoidance Navigate +1

3D Vision-guided Pick-and-Place Using Kuka LBR iiwa Robot

no code implementations21 Feb 2021 Hanlin Niu, Ze Ji, Zihang Zhu, Hujun Yin, Joaquin Carrasco

This paper presents the development of a control system for vision-guided pick-and-place tasks using a robot arm equipped with a 3D camera.


Input-Output Stability of Barrier-Based Model Predictive Control

1 code implementation7 Mar 2019 Panagiotis Petsagkourakis, William P. Heath, Joaquin Carrasco, Constantinos Theodoropoulos

Conditions for input-output stability of barrier-based model predictive control of linear systems with linear and convex nonlinear (hard or soft) constraints are established through the construction of integral quadratic constraints (IQCs).

Systems and Control

Cannot find the paper you are looking for? You can Submit a new open access paper.