Related papers: Robotic Manifold Tracking of Coherent Structures i…
In coastal water systems, horizontal chaotic dispersion plays a significant role in the distribution and fate of pollutants. Lagrangian Coherent Structures (LCSs) provide useful tools to approach the problem of the transport of pollutants…
Continuum robots with variable compliance have gained significant attention due to their adaptability in unstructured environments. Among various stiffness modulation techniques, layer jamming (LJ) provides a simple yet effective approach…
Oceanic surface flows are dominated by finite-time Lagrangian coherent structures that separate regions of qualitatively different dynamical behavior. Among these, eddy boundaries are of particular interest. Their exact identification is…
Human-aware robot navigation promises a range of applications in which mobile robots bring versatile assistance to people in common human environments. While prior research has mostly focused on modeling pedestrians as independent,…
Safe and efficient navigation in dynamic environments shared with humans remains an open and challenging task for mobile robots. Previous works have shown the efficacy of using reinforcement learning frameworks to train policies for…
This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…
Many aquatic organisms are able to track ambient flow disturbances and locate their source. These tasks are particularly challenging because they require the organism to sense local flow information and respond accordingly. Details of how…
Remarkably persistent mixing and non-mixing regions (islands) are observed to coexist in a three-dimensional dynamical system where randomness is expected. The track of an x-ray opaque particle in a spherical shell half-filled with dry…
Robots navigating in human crowds need to optimize their paths not only for their task performance but also for their compliance to social norms. One of the key challenges in this context is the lack of standard metrics for evaluating and…
Modern two and four legged robots exhibit impressive mobility on complex terrain, largely attributed to advancement in learning algorithms. However, these systems often rely on high-bandwidth sensing and onboard computation to…
Based on machine learning techniques, we propose a novel method to estimate flow fields using only floating sensor locations. This method does not require either ground-truth velocity fields or governing equations for fluid flows, which is…
This paper initiates the use of vector fields to design, optimize, and implement reactive schedules for safe cooperative robot patterns on planar graphs. We consider Automated Guided Vehicles (AGV's) operating upon a predefined network of…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
This paper develops a novel COllaborative-Online-Learning (COOL)-enabled motion control framework for multi-robot systems to avoid collision amid randomly moving obstacles whose motion distributions are partially observable through…
Computing stabilizing and optimal control actions for legged locomotion in real time is difficult due to the nonlinear, hybrid, and high dimensional nature of these robots. The hybrid nature of the system introduces a combination of…
This paper presents an algorithm for solving the problem of tracking smooth curves by a fixed wing unmanned aerial vehicle travelling with a constant airspeed and under a constant wind disturbance. The algorithm is based on the idea of…
Harmful algal blooms occur frequently and deteriorate water quality. A reliable method is proposed in this paper to track algal blooms using a set of autonomous surface robots. A satellite image indicates the existence and initial location…
This paper presents a combined sliding-mode control and subspace stabilization methodology for orbital stabilization of periodic trajectories in underactuated mechanical systems with one degree of underactuation. The approach starts with…
Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…
This study presents a theoretical method for planning and controlling agile bipedal locomotion based on robustly tracking a set of non-periodic keyframe states. Based on centroidal momentum dynamics, we formulate a hybrid phase-space…