Gaussian Mixture Likelihood-based Adaptive MPC for Interactive Mobile Manipulators

Dimitrios Rakovitis,Dennis Mronga,Dimitrios Rakovitis,Dennis Mronga

Mobile robots are nowadays frequently used for interaction tasks in the real world, e.g. for opening doors or for pick-and-place tasks. When used in real-world environments, adapting the robot controllers to uncertain contact dynamics is a significant challenge. Adaptive Model Predictive Control (AMPC) is an approach for controlling robot motions while adapting to uncertain or changing dynamics. H...