Related papers: Hybrid Planning and Control for Multiple Fixed-Win…

This abstract describes the first public demonstration of feedback control and coordination of multiple physical systems over a dynamic multi-hop low-power wireless network with update intervals of tens of milliseconds. Our running system…

In this article, we develop a new adaptive event-triggered asymptotic control scheme for strict-feedback systems with fast time-varying parameters. To deal with time-varying parameters with unknown variation boundaries in the feedback path…

In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…

Unitary control and decoherence appear to be irreconcilable in quantum mechanics. When a quantum system interacts with an environment, control strategies usually fail due to decoherence. In this letter, we propose a time-optimal unitary…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…

This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…

This paper develops a new control design for guaranteeing a vehicle's safety during lane change maneuvers in a complex traffic environment. The proposed method uses a finite state machine (FSM), where a quadratic program based optimization…

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…

This paper considers controlling automated vehicles (AVs) to form a platoon with human-driven vehicles (HVs) under consideration of unknown HV model parameters and propulsion time constants. The proposed design is a data-driven dual-loop…

This article proposes a novel control architecture using a centralized nonlinear model predictive control (CNMPC) scheme for controlling multiple micro aerial vehicles (MAVs). The control architecture uses an augmented state system to…

Using dynamic models of tensegrity structures, we derive provable, distributed control laws for stabilizing and changing the shape of a formation of vehicles in the plane. Tensegrity models define the desired, controlled, multi-vehicle…

When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks, being able to fly over challenging terrain can also save…

This paper studies the synchronization of a multi-agent system where the agents are coupled through heterogeneous controller gains. Synchronization refers to the situation where all the agents in a group have a common velocity direction. We…

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…

This communication presents a longitudinal model-free control approach for computing the wheel torque command to be applied on a vehicle. This setting enables us to overcome the problem of unknown vehicle parameters for generating a…

This paper is an addition to an article previously published by three of the authors that addresses the control of convertible fixed-wing aircraft with vectorized thrust. The control solution here developed extends the one presented in the…

Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…

In this paper, we address the problem of coordinating platoons of connected and automated vehicles at signal-free intersections. We present a decentralized, two-level optimal framework to coordinate the platoons with the objective to…

Coordination of connected and automated vehicles (CAVs) in a mixed traffic environment poses significant challenges due to the presence of human-driven vehicles (HDVs) with stochastic dynamics and driving behavior. In earlier work, we…