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08/27/2023
Using Knowledge Representation and Task Planning for Robot-agnostic Skills on the Example of Contact-Rich Wiping Tasks
The transition to agile manufacturing, Industry 4.0, and high-mix-low-vo...
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06/29/2023
SkiROS2: A skill-based Robot Control Platform for ROS
The need for autonomous robot systems in both the service and the indust...
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06/04/2023
Fully coupled mortar-type embedding of one-dimensional fibers into three-dimensional fluid flow
The present article proposes a partitioned Dirichlet-Neumann algorithm, ...
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03/14/2023
Learning to Adapt the Parameters of Behavior Trees and Motion Generators to Task Variations
The ability to learn new tasks and quickly adapt to different variations...
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12/21/2022
A C++ Implementation of a Cartesian Impedance Controller for Robotic Manipulators
Cartesian impedance control is a type of motion control strategy for rob...
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12/07/2022
Combining Planning, Reasoning and Reinforcement Learning to solve Industrial Robot Tasks
One of today's goals for industrial robot systems is to allow fast and e...
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08/02/2022
Learning Skill-based Industrial Robot Tasks with User Priors
Robot skills systems are meant to reduce robot setup time for new manufa...
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03/18/2022
Skill-based Multi-objective Reinforcement Learning of Industrial Robot Tasks with Planning and Knowledge Integration
In modern industrial settings with small batch sizes it should be easy t...
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02/08/2022
Scalable computational kernels for mortar finite element methods
Targeting simulations on parallel hardware architectures, this paper pre...
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09/27/2021
Learning of Parameters in Behavior Trees for Movement Skills
Reinforcement Learning (RL) is a powerful mathematical framework that al...
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04/20/2021
Fluid-beam interaction: Capturing the effect of embedded slender bodies on global fluid flow and vice versa
This work addresses research questions arising from the application of g...
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03/22/2021
Non-invasive multigrid for semi-structured grids
Multigrid solvers for hierarchical hybrid grids (HHG) have been proposed...
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12/19/2019
Algebraic multigrid methods for saddle point systems arising from mortar contact formulations
In this paper, a fully aggregation-based algebraic multigrid strategy is...
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12/09/2019
A mortar-type finite element approach for embedding 1D beams into 3D solid volumes
In this work we present a novel computational method for embedding arbit...
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11/25/2019
