This is a set of tools for prioritized multi-objective robot control.
Did you find this code useful for your research? Please acknowledge the authors in any academic publications that used parts of these codes. The following references are ordered with respect to year of publication.
Learning Soft Priorities
Link to publication
@inproceedings{Dehio2015,
title={{Multiple Task Optimization with a Mixture of Controllers for Motion Generation}},
author={Dehio, Niels and Reinhart, R. Felix and Steil, Jochen J.},
booktitle={IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
pages={6416--6421},
year={2015}
}
Task-Priority Rearrangement
Link to publication
@inproceedings{Dehio2016,
title={{Continuous Task-Priority Rearrangement during Motion Execution with a Mixture of Torque Controllers}},
author={Dehio, Niels and Reinhart, R. Felix and Steil, Jochen J.},
booktitle={IEEE/RAS Int. Conf. on Humanoid Robots},
pages={264--270},
year={2016}
}
Continuously Shaping Projections
Link to publication
@inproceedings{Dehio2018b,
title={{Continuously Shaping Projections and Operational Space Tasks}},
author={Dehio, Niels and Kubus, Daniel and Steil, Jochen J.},
booktitle={IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
pages={5995--6002},
year={2018}
}
Prioritized Multi-Objective Robot Control
Link to publication
@article{Dehio2018c,
title={{Prioritized Multi-Objective Robot Control}},
author={Dehio, Niels},
journal={PhD dissertation, Technical University of Braunschweig, Germany},
year={2018},
url={https://publikationsserver.tu-braunschweig.de/receive/dbbs_mods_00066108}
}
Dynamically-consistent Generalized Hierarchical Control
Link to publication
@inproceedings{Dehio2019,
title={{Dynamically-consistent Generalized Hierarchical Control}},
author={Dehio, Niels and Steil, Jochen J.},
booktitle={IEEE/RSJ Int. Conf. on Robotics and Automation},
year={2019}
}
Weighted Sum of multiple Stack-Of-Tasks Hierarchy Candidates
Link to publication
@article{Silverio2019,
author={Silv{\'{e}}rio, Jo{\~{a}}o and Calinon, Sylvain and Rozo, Leonel and Caldwell, Darwin G.},
journal={IEEE Transactions on Robotics},
title={Learning Task Priorities from Demonstrations},
year={2019},
volume={35},
number={1},
pages={78-94},
}
This is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License version 3 as published by the Free Software Foundation.
This code is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with PbDlib. If not, see http://www.gnu.org/licenses/.