Related papers: Constant Bearing Pursuit on Branching Graphs

Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Current methods rely on pre-built maps and assume static…

This paper studies the cooperative tracking control problem for multiple mobile robots over a directed communication network. First, it is shown that the closed-loop system is uniformly globally asymptotically stable under the proposed…

Autonomous exploration and multi-object tracking by a team of agents have traditionally been considered as two separate, yet related, problems which are usually solved in two phases: an exploration phase then a tracking phase. The…

In real life, mostly problems are dynamic. Many algorithms have been proposed to handle the static problems, but these algorithms do not handle or poorly handle the dynamic environment problems. Although, many algorithms have been proposed…

Various methods to automate traffic data collection have recently been developed by many researchers. A macroscopic data collection through image processing has been proposed. For microscopic traffic flow data, such as individual speed and…

Rapidly generating an optimal chasing motion of a drone to follow a dynamic target among obstacles is challenging due to numerical issues rising from multiple conflicting objectives and non-convex constraints. This study proposes to resolve…

This paper presents a novel control strategy to herd a group of non-cooperative evaders by means of a team of robotic herders. In herding problems, the motion of the evaders is typically determined by strong nonlinear reactive dynamics,…

Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…

End-effector trajectory tracking algorithms find joint motions that drive robot manipulators to track reference trajectories. In practical scenarios, anytime algorithms are preferred for their ability to quickly generate initial motions and…

Discontinuous dynamical systems with grazing solutions are discussed. The group property, continuation of solutions, continuity and smoothness of motions are thoroughly analyzed. A variational system around a grazing solution which depends…

Robust and persistent localisation is essential for ensuring the safe operation of autonomous vehicles. When operating in large and diverse urban driving environments, autonomous vehicles are frequently exposed to situations that violate…

Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…

Robotic manipulation can greatly benefit from the data efficiency, robustness, and predictability of model-based methods if robots can quickly generate models of novel objects they encounter. This is especially difficult when effects like…

In this paper we consider a recently developed distributed optimization algorithm based on gradient tracking. We propose a system theory framework to analyze its structural properties on a preliminary, quadratic optimization set-up.…

In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…

This paper addresses the leader-following consensus problem for discrete-time positive multi-agent systems over time-varying graphs. We assume that the followers may have mutually different positive dynamics which can also be different from…

This paper addresses the leader-follower flocking problem with a moving leader for networked Lagrange systems with parametric uncertainties under a proximity graph. Here a group of followers move cohesively with the moving leader to…

Relationship between agents can be conveniently represented by graphs. When these relationships have different modalities, they are better modelled by multilayer graphs where each layer is associated with one modality. Such graphs arise…

This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…

Traditional machine learning approaches assume that data comes from a single generating mechanism, which may not hold for most real life data. In these cases, the single mechanism assumption can result in suboptimal performance. We…