Related papers: Characterization of accessibility for affine conne…
The note focuses on the differential geometric approach to the study of nonlinear systems that are affine in control. We first develop normal forms for nonlinear system affine in control. Based on these normal forms, we then address the…
Using the semigroup approach to abstract boundary control problems we characterize the space of all exactly reachable states. Moreover, we study the situation when the controls of the system are required to be positive. The abstract results…
In this paper, we investigate the existence of a subclass of quotients of affine connection control systems, which preserve the mechanical structures. Both local and global sufficient and necessary conditions are given for the geodesically…
Hamilton-Jacobi (HJ) reachability analysis has been developed over the past decades into a widely-applicable tool for determining goal satisfaction and safety verification in nonlinear systems. While HJ reachability can be formulated very…
Model-based manipulation of deformable objects has traditionally dealt with objects while neglecting their dynamics, thus mostly focusing on very lightweight objects at steady state. At the same time, soft robotic research has made…
Exploiting tools from algebraic geometry, the problem of finiteness of determination of accessibility/strong accessibility is investigated for polynomial systems and also for analytic systems that are immersible into polynomial systems. The…
Legged robots navigating cluttered environments must be jointly agile for efficient task execution and safe to avoid collisions with obstacles or humans. Existing studies either develop conservative controllers (< 1.0 m/s) to ensure safety,…
In the present paper we investigate the mechanics of systems of affinely-rigid bodies, i.e., bodies rigid in the sense of affine geometry. Certain physical applications are possible in modelling of molecular crystals, granular media, and…
Temporal networks are a class of time-varying networks, which change their topology according to a given time-ordered sequence of static networks (known as subsystems). This paper investigates the reachability and controllability of…
This ArXiv paper is a supplement to [7] and contains proofs of preliminary claims omitted in [7] for lack of space. The paper deals with exploring a necessary condition for solvability of the Reach Control Problem (RCP) using affine…
This paper presents a novel approach for the safe control design of systems with parametric uncertainties in both drift terms and control-input matrices. The method combines control barrier functions and adaptive laws to generate a safe…
We study affine control systems on smooth manifolds and their complete lifts to the tangent bundle, providing an explicit geometric description of the solutions of the lifted system. We show that, although controllability of the complete…
In this paper, we study graphical conditions for structural controllability and accessibility of drifted bilinear systems over Lie groups. We consider a bilinear control system with drift and controlled terms that evolves over the special…
In this paper, controllability of systems defined on graphs is discussed. We consider the problem of controllability of the network for a family of matrices carrying the structure of an underlying directed graph. A one-to-one correspondence…
In this manuscript, we investigate symbolic abstractions that capture the behavior of piecewise-affine systems under input constraints and bounded external noise. This is accomplished by considering local affine feedback controllers that…
Virtual constraints are invariant relations imposed on a control system via feedback as opposed to real physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints on the…
Interactions with articulated objects are a challenging but important task for mobile robots. To tackle this challenge, we propose a novel closed-loop control pipeline, which integrates manipulation priors from affordance estimation with…
Several reachability problems in finite automata, such as completeness of NFAs and synchronisation of total DFAs, correspond to fundamental properties of sets of nonnegative matrices. In particular, the two mentioned properties correspond…
This paper studies reachability and null-controllability for difference inclusions involving convex processes. Such difference inclusions arise, for instance, in the study of linear discrete-time systems whose inputs and/or states are…
This paper presents the accessibility and small-time local controllability (STLC) results for $N$-link horizontal planar manipulators with only one unactuated joint. STLC is important in controls, both for design considerations and because…