Related papers: Task-space coordinated tracking of multiple hetero…
As the Moore's scaling era comes to an end, application specific hardware accelerators appear as an attractive way to improve the performance and power efficiency of our computing systems. A massively heterogeneous system with a large…
This paper presents a Discrete-Time Model Predictive Controller (MPC) for humanoid walking with online footstep adjustment. The proposed controller utilizes a hierarchical control approach. The high-level controller uses a low-dimensional…
Multi-agent embodied tasks have recently been studied in complex indoor visual environments. Collaboration among multiple agents can improve work efficiency and has significant practical value. However, most of the existing research focuses…
There is a rising interest in Spatio-temporal systems described by Partial Differential Equations (PDEs) among the control community. Not only are these systems challenging to control, but the sizing and placement of their actuation is an…
In this paper, partition-based distributed state estimation of general linear systems is considered. A distributed moving horizon state estimation scheme is developed via decomposing the entire system model into subsystem models and…
This paper presents a distributed model predictive control (DMPC) algorithm for heterogeneous vehicle platoons with unidirectional topologies and a priori unknown desired set point. The vehicles (or nodes) in a platoon are dynamically…
This paper introduces an algorithm for the detection of change-points and the identification of the corresponding subsequences in transient multivariate time-series data (MTSD). The analysis of such data has become more and more important…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
The aim of this work is to define a planner that enables robust legged locomotion for complex multi-agent systems consisting of several holonomically constrained quadrupeds. To this end, we employ a methodology based on behavioral systems…
This paper investigates non-myopic path planning of mobile sensors for multi-target tracking. Such problem has posed a high computational complexity issue and/or the necessity of high-level decision making. Existing works tackle these…
Multi-robot manipulation tasks involve various control entities that can be separated into dynamically independent parts. A typical example of such real-world tasks is dual-arm manipulation. Learning to naively solve such tasks with…
In recent years, autonomous underwater vehicle (AUV) systems have demonstrated significant potential in complex marine exploration. However, effective AUV-based tracking remains challenging in realistic underwater environments characterized…
We consider multi-agent systems with heterogeneous, nonlinear agents subject to individual constraints that want to achieve a periodic, dynamic cooperative control goal which can be characterised by a set and a suitable cost. We propose a…
We introduce a framework for cooperative manipulation, applied on an underactuated manipulation problem. Two stationary robotic manipulators are required to cooperate in order to reposition an object within their shared work space. Control…
We study the problem of distributed control of large-scale robotic swarms which can be modeled as continuum densities evolving under the continuity equation. We propose a formalization of distributed controllers as (generally nonlinear)…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Discrete control systems, as considered here, refer to the control theory of discrete-time Lagrangian or Hamiltonian systems. These discrete-time models are based on a discrete variational principle, and are part of the broader field of…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…
This paper is concerned with a leader-follower problem for a multi-agent system with a switching interconnection topology. Distributed observers are designed for the second-order follower-agents, under the common assumption that the…