Related papers: Distributed scaling control of rigid formations
In this work, we study angle-based localization and rigidity maintenance control for multi-robot networks. First, we establish the relationship between angle rigidity and bearing rigidity considering \textit{directed} sensing graphs and…
This paper establishes a unified element-based framework for formation control by introducing the concept of the deformation gradient from continuum mechanics. Unlike traditional methods that rely on geometric constraints defined on graph…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
This paper considers the distributed robust control problems of uncertain linear multi-agent systems with undirected communication topologies. It is assumed that the agents have identical nominal dynamics while subject to different…
Diffusion models have recently gained significant attention in robotics due to their ability to generate multi-modal distributions of system states and behaviors. However, a key challenge remains: ensuring precise control over the generated…
We present an experimental investigation of the statistical properties of spherical granular particles on an inclined plane that are excited by an oscillating side-wall. The data is obtained by high-speed imaging and particle tracking…
We propose a geometric approach to distance-based formation control modeled on a minimum-norm lifting of Riemannian gradient descent in edge-space to node-space. This yields a unified family of controllers, including the classical gradient…
This study employs molecular dynamics simulations to investigate droplet dynamics when a stationary droplet on a solid surface is struck by another droplet of similar size from above. The focus is on the jumping behavior of the merged…
Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive…
This paper considers the integration of rigid cooperative manipulation with rigidity theory. Motivated by rigid models of cooperative manipulation systems, i.e., where the grasping contacts are rigid, we introduce first the notion of…
Products between phase-type distributed random variables and any independent, positive and continuous random variable are studied. Their asymptotic properties are established, and an expectation-maximization algorithm for their effective…
This paper investigates the problem of consensus-based distributed control of linear time-invariant multi-channel systems subject to unknown inputs. A distributed observer-based control framework is proposed, within which observer nodes and…
Distance metric learning is successful in discovering intrinsic relations in data. However, most algorithms are computationally demanding when the problem size becomes large. In this paper, we propose a discriminative metric learning…
This paper addresses the problem of position- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in a $3$D workspace with obstacles. More specifically, we design a decentralized control protocol…
We explore the probabilistic foundations of shared control in complex dynamic environments. In order to do this, we formulate shared control as a random process and describe the joint distribution that governs its behavior. For…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
This paper presents a unified approach to realize versatile distributed maneuvering with generalized formations. Specifically, we decompose the robots' maneuvers into two independent components, i.e., interception and enclosing, which are…
The problem of distributed control and estimation for multi-agent systems with limited sensing capabilities is a practical challenge motivated by incomplete and imperfect sensing. This article addresses an important case where each agent in…
Amorphous solids yield in strain-controlled protocols at a critical value of the strain. For larger strains the stress and energy display a generic complex serrated signal with elastic segments punctuated by sharp energy and stress plastic…
Control of network systems with uncertain local dynamics has remained an open problem for a long time. In this paper, a distributed minimax adaptive control algorithm is proposed for such networks whose local dynamics has an uncertain…