Related papers: Robotic Manifold Tracking of Coherent Structures i…
Accurate prediction of Lagrangian trajectories in turbulent flow remains challenging due to limited temporal information in transport functions. This paper shows that surrounding coherent motions sharing the same dynamics carry enough…
In this paper, we propose an approach to learn stable dynamical systems evolving on Riemannian manifolds. The approach leverages a data-efficient procedure to learn a diffeomorphic transformation that maps simple stable dynamical systems…
Multi-robot collaboration for target tracking in adversarial environments poses significant challenges, including system failures, dynamic priority shifts, and other unpredictable factors. These challenges become even more pronounced when…
Lagrangian coherent structures (LCSs) are material surfaces that shape finite-time tracer patterns in flows with arbitrary time dependence. Depending on their deformation properties, elliptic and hyperbolic LCSs have been identified from…
In this paper, we develop a control framework for the coordination of multiple robots as they navigate through crowded environments. Our framework comprises of a local model predictive control (MPC) for each robot and a social long…
This paper presents L-Learning, a novel data-driven control framework for robotics that integrates Lyapunov stability theory with Lagrangian mechanics to enhance trajectory tracking performance. While traditional control methods often…
This paper addresses distributed robust learning-based control for consensus formation tracking of multiple underwater vessels, in which the system parameters of the marine vessels are assumed to be entirely unknown and subject to the…
In densely populated environments, socially compliant navigation is critical for autonomous robots as driving close to people is unavoidable. This manner of social navigation is challenging given the constraints of human comfort and social…
Model-based controllers can offer strong guarantees on stability and convergence by relying on physically accurate dynamic models. However, these are rarely available for high-dimensional mechanical systems such as deformable objects or…
Coordinated collective motion in bird flocks and fish schools inspires algorithms for cohesive swarm robotics. This paper presents a position-based flocking model that achieves persistent velocity alignment without velocity sensing. By…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
The dynamics of coherent structures present in real-world environmental data is analyzed. The method developed in this Paper combines the power of the Proper Orthogonal Decomposition (POD) technique to identify these coherent structures in…
Dynamical systems can be coupled in a manner that is designed to drive the resulting dynamics onto a specified lower dimensional submanifold in the phase space of the combined system. On the submanifold, the variables of the two systems…
We describe the application of a new technique from nonlinear dynamical systems to infer the Lagrangian connectivity of the deep global ocean. We approximate the dynamic Laplacian using Argo trajectories from January 2011 to January 2017…
Robust and accurate perception of humans in their 3D scene context is essential for integrating robots into everyday environments. Existing approaches, however, often fail to predict plausible and accurate human motion estimates that are…
Stop-and-go waves in traffic flow pose a persistent challenge, compromising safety, efficiency, and environmental sustainability. This paper introduces a novel mitigation strategy discovered through training multi-agent deep reinforcement…
Recent research has demonstrated Reservoir Computing's capability to model various chaotic dynamical systems, yet its application to Hamiltonian systems remains relatively unexplored. This paper investigates the effectiveness of Reservoir…
Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…
Deploying a team of robots that can carefully coordinate their actions can make the entire system robust to individual failures. In this report, we review recent algorithmic development in making multi-robot systems robust to environmental…
We outline a method for controlling the location of stable and unstable manifolds in the following sense. From a known location of the stable and unstable manifolds in a steady two-dimensional flow, the primary segments of the manifolds are…