Related papers: Technical report on Optimization-Based Bearing-Onl…
During training, supervised object detection tries to correctly match the predicted bounding boxes and associated classification scores to the ground truth. This is essential to determine which predictions are to be pushed towards which…
Recent advancements in model-free deep reinforcement learning have enabled efficient agent training. However, challenges arise when determining the region of attraction for these controllers, especially if the region does not fully cover…
Nonlinear friction has long been, and continues to be, one of the major challenges for precision motion control systems. A linear asymptotic observer of the motion state variables with nonlinear friction uses a dedicated state-space…
We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…
Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…
This paper studies the bearing-based simultaneous localization and affine formation tracking (SLAFT) control problem for fixed-wing unmanned aerial vehicles (UAVs). In the considered problem, only a small set of UAVs, named leaders, can…
Since batch algorithms suffer from lack of proficiency in confronting model mismatches and disturbances, this contribution proposes an adaptive scheme based on continuous Lyapunov function for online robot dynamic identification. This paper…
We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
A framework is introduced for planning unmanned aerial vehicle flight paths for visual surveillance of ground targets, each having particular viewing requirements. Specifically, each target is associated with a set of imaging parameters,…
Optimization plays a central role in intelligent systems and cyber-physical technologies, where speed and reliability of convergence directly impact performance. In control theory, optimization-centric methods are standard: controllers are…
When working alongside human collaborators in dynamic and unstructured environments, such as disaster recovery or military operation, fast field adaptation is necessary for an unmanned ground vehicle (UGV) to perform its duties or learn…
This work presents a real-time autonomous track navigation framework for nonholonomic differential-drive mobile robots by jointly integrating multi-task visual perception and a provably stable tracking controller. The perception pipeline…
This paper studies distributed maneuver control of multi-agent formations in arbitrary dimensions. The objective is to control the translation and scale of the formation while maintaining the desired formation pattern. Unlike conventional…
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…
Wheeled bipedal robots have garnered increasing attention in exploration and inspection. However, most research simplifies calculations by ignoring leg dynamics, thereby restricting the robot's full motion potential. Additionally, robots…
In this paper, we design a tracking model consisting of response generation and bounding box regression, where the first component produces a heat map to indicate the presence of the object at different positions and the second part…
This paper presents a guidance algorithm for solving the problem of following parametric paths, as well as a curvature-varying speed setpoint for land-based car-type wheeled mobile robots (WMRs). The guidance algorithm relies on…
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…