CART-MPC uses turn-taking multi-agent model predictive control with learned strap dynamics and a linking-number cost to tie Hoyer sling straps to a sling bar, shown in simulation and on a real manikin.
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CART-MPC: Coordinating Assistive Devices for Robot-Assisted Transferring with Multi-Agent Model Predictive Control
CART-MPC uses turn-taking multi-agent model predictive control with learned strap dynamics and a linking-number cost to tie Hoyer sling straps to a sling bar, shown in simulation and on a real manikin.