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Precise collaboration in vision-based dual-arm robot systems requires accurate system calibration. Recent dual-robot calibration methods have achieved strong performance by simultaneously solving multiple coordinate transformations.…
We will present a new general framework for robust and adaptive control that allows for distributed and scalable learning and control of large systems of interconnected linear subsystems. The control method is demonstrated for a linear…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
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…
We present a decentralized, agent agnostic, and safety-aware control framework for human-robot collaboration based on Virtual Model Control (VMC). In our approach, both humans and robots are embedded in the same virtual-component-shaped…
Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their…
This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…
We present a multirotor Unmanned Aerial Vehicle control (UAV) and estimation system for supporting replicable research through realistic simulations and real-world experiments. We propose a unique multi-frame localization paradigm for…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
Ultra-wideband (UWB) ranging has emerged as a key radio technology for robot positioning and relative localization in multi-robot systems. Multiple works are now advancing towards more scalable systems, but challenges still remain. This…
Designing autonomous aerial robot team systems remains a grand challenge in robotics. Existing works in this field can be categorized as centralized and decentralized. Centralized methods suffer from scale dilemmas, while decentralized ones…
By learning Variable Impedance Control policy, robot assistants can intelligently adapt their manipulation compliance to ensure both safe interaction and proper task completion when operating in human-robot interaction environments. In this…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
We consider task allocation for multi-object transport using a multi-robot system, in which each robot selects one object among multiple objects with different and unknown weights. The existing centralized methods assume the number of…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
Efficient, accurate, and flexible relative localization is crucial in air-ground collaborative tasks. However, current approaches for robot relative localization are primarily realized in the form of distributed multi-robot SLAM systems…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…