franky is a high-level control library for Franka robots, offering Python and C++ support. By providing a high-level control interface, franky eliminates the need for strict real-time programming at 1 ...

Abstract: We propose a quantum-assisted framework for solving constrained finite-horizon nonlinear optimal control problems using a barrier Sequential Quadratic Programming (SQP) approach. A quantum ...

We are interested in identifying and enforcing the isolation requirements of a concurrent program, i.e., concurrency control that ensures that the program meets its specification. The thesis of this ...

Abstract: This letter proposes an algorithm for solving finite-time nonlinear optimal control problems. The proposed method employs the Gauss pseudospectral method to transform the optimal control ...