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This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…

We study decentralized cooperative transport using teams of N-quadruped robots with arm that must pinch, lift, and move ungraspable objects through physical contact alone. Unlike prior work that relies on rigid mechanical coupling between…

Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…

The deformable and continuum nature of soft robots promises versatility and adaptability. However, control of modular, multi-limbed soft robots for terrestrial locomotion is challenging due to the complex robot structure, actuator mechanics…

Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…

In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…

In this paper, we consider the dynamic multi-robot distribution problem where a heterogeneous group of networked robots is tasked to spread out and simultaneously move towards multiple moving task areas while maintaining connectivity. The…

The joint optimization of physical parameters and controllers in robotic systems is challenging. This is due to the difficulties of predicting the effect that changes in physical parameters have on final performances. At the same time,…

The independent control of multiple magnetic microrobots under a shared global signal presents critical challenges in biomedical applications such as targeted drug delivery and microsurgeries. Most existing systems only allow all agents to…

We propose a method to maintain high resource in a networked heterogeneous multi-robot system to resource failures. In our model, resources such as and computation are available on robots. The robots engaged in a joint task using these…

This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…

We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…

Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…

To accomplish task efficiently in a multiple robots system, a problem that has to be addressed is Simultaneous Localization and Mapping (SLAM). LiDAR (Light Detection and Ranging) has been used for many SLAM solutions due to its superb…

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…

Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…

Robotic manipulators are widely used in modern manufacturing processes. However, their deployment in unstructured environments remains an open problem. To deal with the variety, complexity, and uncertainty of real-world manipulation tasks,…

In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…

This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function…

Deep reinforcement learning (RL) has recently shown great promise in robotic continuous control tasks. Nevertheless, prior research in this vein center around the centralized learning setting that largely relies on the communication…