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We establish a connection between two well developed research areas, robust control and planning systems. The discount factors used in Markov Decision Process (MDP) models of time-critical planning are derivable from frequency domain concepts of performance and uncertainty used in robust control. The controls framework makes it possible to move beyond merely justifying the discount factor towards...
Building robots capable of long term autonomy has been a long standing goal of robotics research. Such systems must be capable of performing certain tasks with a high degree of robustness and repeatability. In the context of personal robotics, these tasks could range anywhere from retrieving items from a refrigerator, loading a dishwasher, to setting up a dinner table. Given the complexity of tasks...
Underactuated compliant robotic hands exploit passive mechanics and joint coupling to reduce the number of actuators required to achieve grasp robustness in unstructured environments. Reduced actuation requirements generally serve to decrease design cost and improve grasp planning efficiency, but overzealous simplification of an actuation topology, coupled with insufficient tuning of mechanical compliance...
Formulating and delineating a problem and presenting a solid proposal for follow-up research is a challenge for any strategy or policy analyst. This paper describes how at TU Delft students in policy analysis and engineering management learn how to use a systems approach for exploring and analyzing complex problem situations. Their analysis should result in a clear and consistent problem framing,...
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