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In this work, we propose a numerical approach for simulations of large deformations of interfaces in a level set framework. To obtain a fast and viable numerical solution in both time and space, temporal discretization is based on the…

Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…

We present a novel path-planning algorithm to reduce localization error for a network of robots cooperatively localizing via inter-robot range measurements. The quality of localization with range measurements depends on the configuration of…

This document presents the study of the problem of location and trajectory that a robot must follow. It focuses on applying the Kalman filter to achieve location and trajectory estimation in an autonomous mobile differential robot. The…

Industrial robots are increasingly deployed in applications requiring an end effector tool to closely track a specified path, such as in spraying and welding. Performance and productivity present possibly conflicting objectives: tracking…

We propose a general approach to directly implement rate constraints on the discretization mesh for all collocation methods, for both state and input variables. Unlike conventional approaches that may lead to singular control arcs, the…

We present a comprehensive study on discrete morphological symmetries of dynamical systems, which are commonly observed in biological and artificial locomoting systems, such as legged, swimming, and flying animals/robots/virtual characters.…

Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…

Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…

Corrective Shared Autonomy is a method where human corrections are layered on top of an otherwise autonomous robot behavior. Specifically, a Corrective Shared Autonomy system leverages an external controller to allow corrections across a…

Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…

This work investigates an elliptic optimal control problem defined on uncertain domains and discretized by a fictitious domain finite element method and cut elements. Key ingredients of the study are to manage cases considering the usually…

Robot control through contact is challenging as it requires reasoning over long horizons and discontinuous system dynamics. Highly dynamic tasks such as Air Hockey additionally require agile behavior, making the corresponding optimal…

In this work we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in 2D and 3D. Our approach is able to detect compact path components and narrow passages in configuration space…

How do we move a robot efficiently from one position to another? To answer this question, we need to understand its configuration space, a 'map' where we can find every possible position of the robot. Unfortunately, these maps are very…

Simulations are attractive environments for training agents as they provide an abundant source of data and alleviate certain safety concerns during the training process. But the behaviours developed by agents in simulation are often…

The aim of coordinated planning is to avoid robot-to-robot collisions in a multi-robot system, and there are two standard solution approaches: centralized planning and decoupled planning. Our first contribution is a decoupled planning…

This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…

In vehicle production factories, the vehicle painting process employs multiple robotic arms to simultaneously apply paint to car bodies advancing along a conveyor line. Designing paint paths for these robotic arms, which involves assigning…

It is a challenging task for ground robots to autonomously navigate in harsh environments due to the presence of non-trivial obstacles and uneven terrain. This requires trajectory planning that balances safety and efficiency. The primary…