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Constrained environments are common in practical applications of manipulating deformable linear objects (DLOs), where movements of both DLOs and robots should be constrained. This task is high-dimensional and highly constrained owing to the…
The three-body problem is a fundamental long-standing open problem, with applications in all branches of physics, including astrophysics, nuclear physics and particle physics. In general, conserved quantities allow to reduce the formulation…
This paper studies (single-time and multitime) optimal control problems on a nonholonomic manifold (described either by the kernel of a Gibbs-Pfaff form or by the span of appropriate vector fields). For both descriptions we analyse:…
A new notion of controllability, eigenstate controllability, is defined for finite-dimensional bilinear quantum mechanical systems which are neither strongly completely controllably nor completely controllable. And a quantum control…
A geometric form of Euler-Lagrange equations is developed for a chain pendulum, a serial connection of $n$ rigid links connected by spherical joints, that is attached to a rigid cart. The cart can translate in a horizontal plane acted on by…
This work is devoted to the control of the Fokker-Planck equation, posed on a smooth bounded domain of R^d, with a localized drift force. We prove that this equation is locally controllable to regular nonzero trajectories. Moreover, under…
In this paper, we propose a dynamic model and control framework for tendon-driven continuum robots (TDCRs) with multiple segments and an arbitrary number of tendons per segment. Our approach leverages the Clarke transform, the…
In order to address the need for an affordable reduced gravity test platform, this work focuses on the analysis and implementation of atmospheric acceleration tracking with an autonomous aerial vehicle. As proof of concept, the vehicle is…
We study the Robe's restricted three-body problem. Such a motion was firstly studied by A. G. Robe in \cite{Robe}, which is used to model small oscillations of the earth's inner core taking into account the moon attraction. For the linear…
Theoretical research into many-body quantum systems has mostly focused on regular structures which have a small, simple unit cell and where a vanishingly small number of pairs of the constituents directly interact. Motivated by advances in…
In this paper we prove an approximate controllability result for the bilinear Schr\"odinger equation. This result requires less restrictive non-resonance hypotheses on the spectrum of the uncontrolled Schr\"odinger operator than those…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
Area laws describe how entanglement entropy scales and thus provide important necessary conditions for efficient quantum many-body simulation, but they do not, by themselves, yield a direct measure of computational complexity. Here we…
Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…
Control barrier functions have been demonstrated to be a useful method of ensuring constraint satisfaction for a wide class of controllers, however existing results are mostly restricted to continuous time systems of relative degree one.…
Safety in dynamic systems with prevalent uncertainties is crucial. Current robust safe controllers, designed primarily for uni-modal uncertainties, may be either overly conservative or unsafe when handling multi-modal uncertainties. To…
In this paper we study the stochastic control problem of partially observed (multi-dimensional) stochastic system driven by both Brownian motions and fractional Brownian motions. In the absence of the powerful tool of Girsanov…
This study presents an innovative approach to optimal gait control for a soft quadruped robot enabled by four Compressible Tendon-driven Soft Actuators (CTSAs). Improving our previous studies of using model-free reinforcement learning for…
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…