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In stochastic optimal control, change of measure arguments have been crucial for stochastic analysis. Such an approach is often called static reduction in dynamic team theory (or decentralized stochastic control) and has been an effective…
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
Diffusion Policy has shown great performance in robotic manipulation tasks under stochastic perturbations, due to its ability to model multimodal action distributions. Nonetheless, its reliance on a computationally expensive reverse-time…
This paper studies decentralized formation control of multiple vehicles when each vehicle can only measure the local bearings of their neighbors by using bearing-only sensors. Since the inter-vehicle distance cannot be measured, the target…
As power systems become more and more interconnected, the inter-area oscillations has become a serious factor limiting large power transfer among different areas. Underdamped (Undamped) inter-area oscillations may cause system breakup and…
Despite recent progress in our understanding of complex dynamic networks, it remains challenging to devisesufficiently accurate models to observe, control or predict the state of real systems in biology, economics or other fields. A largely…
Urban transportation networks face significant challenges due to traffic congestion, leading to adverse environmental and socioeconomic impacts. Vehicular admission control (VAC) strategies have emerged as a promising solution to alleviate…
We study internal stability in the context of diffusively-coupled control architectures, common in multi-agent systems (i.e. the celebrated consensus protocol), for linear time-invariant agents. We derive a condition under which the system…
This paper focuses on the construction of differential-cascaded structures for control of nonlinear robot manipulators subjected to disturbances and unavailability of partial information of the desired trajectory. The proposed…
Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…
This paper applies the recently developed framework for integral control on nonlinear spaces to two non-standard cases. First, we show that the property of perfect target stabilization in presence of actuation bias holds also if this bias…
We introduce a planner designed to guide robot manipulators in stably placing objects within intricate scenes. Our proposed method reverses the traditional approach to object placement: our planner selects contact points first and then…
In this paper, a fixed-time safe control problem is investigated for an uncertain high-order nonlinear pure-feedback system with state constraints. A new nonlinear transformation function is firstly proposed to handle both the constrained…
We present a real-time-capable set-based framework for closed-loop predictive control of autonomous systems using tools from computational geometry, dynamic programming, and convex optimization. The control architecture relies on the…
This thesis addresses the question of stability of systems defined by differential equations which contain nonlinearity and delay. In particular, we analyze the stability of a well-known delayed nonlinear implementation of a certain…
Stably placing an object in a multi-object scene is a fundamental challenge in robotic manipulation, as placements must be penetration-free, establish precise surface contact, and result in a force equilibrium. To assess stability, existing…
Locomotion is a prime example for adaptive behavior in animals and biological control principles have inspired control architectures for legged robots. While machine learning has been successfully applied to many tasks in recent years, Deep…
We consider the problem of distributed formation control of a large number of vehicles. An individual vehicle in the formation is assumed to be a fully actuated point mass. A distributed control law is examined: the control action on an…
The design of adaptive structures is one method to improve sustainability of buildings. Adaptive structures are able to adapt to different loading and environmental conditions or to changing requirements by either small or large shape…
This paper presents an angle-based approach for distributed formation shape stabilization of multi-agent systems in the plane. We develop an angle rigidity theory to study whether a planar framework can be determined by angles between…