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In this paper, we consider the problem of computing robust controlled invariants for discrete-time monotone dynamical systems. We consider different classes of monotone systems depending on whether the sets of states, control inputs and…

This paper considers the problem of controlling a piecewise continuously differentiable system subject to time-varying uncertainties. The uncertainties are decomposed into a time-invariant, linearly-parameterized portion and a time-varying…

Gradient estimation -- approximating the gradient of an expectation with respect to the parameters of a distribution -- is central to the solution of many machine learning problems. However, when the distribution is discrete, most common…

This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…

We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…

The problem of robust distributed control arises in several large-scale systems, such as transportation networks and power grid systems. In many practical scenarios controllers might not have enough information to make globally optimal…

In this paper we deal with pedestrian modeling, aiming at simulating crowd behavior in normal and emergency scenarios, including highly congested mass events. We are specifically concerned with a new agent-based, continuous-in-space,…

The problem of distributed controller synthesis for formation control of multi-agent systems is considered. The agents (single integrators) communicate over a communication graph and a decentralized linear feedback structure is assumed. One…

Current research on robust trajectory planning for autonomous agents aims to mitigate uncertainties arising from disturbances and modeling errors while ensuring guaranteed safety. Existing methods primarily utilize stochastic optimal…

Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…

This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…

This paper considers the distributed leader-follower stress-matrix-based affine formation control problem of discrete-time linear multi-agent systems with static and dynamic leaders. In leader-follower multi-agent formation control, the aim…

The problem of multi-agent formation control for target tracking is considered in this paper. The target is an irregular dynamic shape approximated by a circle with moving centre and varying radius. It is assumed that there are n agents and…

Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…

The recent promises of Model Predictive Control in robotics have motivated the development of tailored second-order methods to solve optimal control problems efficiently. While those methods benefit from strong convergence properties,…

In this paper, we propose a novel approach to the problem of augmenting distance-based formation controllers with a secondary constraint for the purpose of preventing 3D formation ambiguities. Specifically, we introduce three controlled…

From serving a cup of coffee to positioning mechanical parts during assembly, stable object placement is a crucial skill for future robots. It becomes particularly challenging under geometric uncertainties, e.g., when the object pose or…

In this paper, we introduce a novel adaptation of the Raft consensus algorithm for achieving emergent formation control in multi-agent systems with a single integrator dynamics. This strategy, dubbed "Rafting," enables robust cooperation…

Robotic control systems are increasingly relying on distributed feedback controllers to tackle complex sensing and decision problems such as those found in highly articulated human-centered robots. These demands come at the cost of a…

Gradient-based methods have been widely used for system design and optimization in diverse application domains. Recently, there has been a renewed interest in studying theoretical properties of these methods in the context of control and…