Task Hierarchical Control via Null-Space Projection and Path Integral Approach
Fuente:
arXiv
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866909556262567936 |
|---|---|
| author | Patil, Apurva Funada, Riku Tanaka, Takashi Sentis, Luis |
| author_facet | Patil, Apurva Funada, Riku Tanaka, Takashi Sentis, Luis |
| contents | This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for hierarchical control is the null-space projection technique, which ensures that higher-priority tasks are executed without interference from lower-priority ones. While effective, the state-of-the-art implementations of this method rely on low-level controllers, such as PID controllers, which can be prone to suboptimal solutions in complex tasks. This paper presents a novel framework for hierarchical task control, integrating the null-space projection technique with the path integral control method. Our approach leverages Monte Carlo simulations for real-time computation of optimal control inputs, allowing for the seamless integration of simpler PID-like controllers with a more sophisticated optimal control technique. Through simulation studies, we demonstrate the effectiveness of this combined approach, showing how it overcomes the limitations of traditional |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_22574 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Task Hierarchical Control via Null-Space Projection and Path Integral Approach Patil, Apurva Funada, Riku Tanaka, Takashi Sentis, Luis Robotics Systems and Control This paper addresses the problem of hierarchical task control, where a robotic system must perform multiple subtasks with varying levels of priority. A commonly used approach for hierarchical control is the null-space projection technique, which ensures that higher-priority tasks are executed without interference from lower-priority ones. While effective, the state-of-the-art implementations of this method rely on low-level controllers, such as PID controllers, which can be prone to suboptimal solutions in complex tasks. This paper presents a novel framework for hierarchical task control, integrating the null-space projection technique with the path integral control method. Our approach leverages Monte Carlo simulations for real-time computation of optimal control inputs, allowing for the seamless integration of simpler PID-like controllers with a more sophisticated optimal control technique. Through simulation studies, we demonstrate the effectiveness of this combined approach, showing how it overcomes the limitations of traditional |
| title | Task Hierarchical Control via Null-Space Projection and Path Integral Approach |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2503.22574 |