Related papers: Phototactic Robot Tunable by Sensorial Delays
In this paper we present a prediction-based Cooperative Adaptive Cruise Controller for vehicles with actuation delay, applicable within heterogeneous platoons. We provide a stability analysis for the discrete-time implementation of this…
Location estimation is a fundamental sensing task in robotic applications, where the world is uncertain, and sensors and effectors are noisy. Most systems make various assumptions about the dependencies between state variables, and…
Human decision-making is strongly influenced by cognitive biases, particularly under conditions of uncertainty and risk. While prior work has examined bias in single-step decisions with immediate outcomes and in human interaction with a…
In this work, we investigate interactions that simultaneously order a system locally, while keeping it globally disordered. The study is done in the context of the emergence of diversity in opinion propagation models with interactions…
Continuous surveillance of a spatial region using distributed robots and sensors is a well-studied application in the area of multi-agent systems. This paper investigates a practically-relevant scenario where robotic sensors are introduced…
Distributed optimization finds applications in large-scale machine learning, data processing and classification over multi-agent networks. In real-world scenarios, the communication network of agents may encounter latency that may affect…
We investigate the influence of an anonymous leader on a collective of self-propelled robots using Kilobot experiments and numerical simulations. A single leader alternated deterministically between clockwise and counterclockwise motion,…
This paper studies a class of consensus dynamics where the interactions between agents are affected by a time-varying unknown scaling factor. This situation is encountered in the control of robotic fleets over a wireless network or in…
We show that a cumulative action of noise and delayed feedback on an excitable theta-neuron leads to rather coherent stochastic bursting. An idealized point process, valid if the characteristic time scales in the problem are well-separated,…
Autonomy and independent navigation are vital to daily life but remain challenging for individuals with blindness. Robotic systems can enhance mobility and confidence by providing intelligent navigation assistance. However, fully autonomous…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic participants in autonomous driving and high-speed racing. Unfortunately, delays are typically not…
The plasticity of the conduction delay between neurons plays a fundamental role in learning. However, the exact underlying mechanisms in the brain for this modulation is still an open problem. Understanding the precise adjustment of…
In real-world cooperative manipulation of objects, multiple mobile manipulator systems may suffer from disturbances and asynchrony, leading to excessive interaction wrenches and potentially causing object damage or emergency stops. Existing…
Mathematical modeling based on time-delay differential equations is an important tool to study the role of delay in biological systems and to evaluate its impact on the asymptotic behavior of their dynamics. Delays are indeed found in many…
This paper is concerned with the consensus problem for multi-agent systems subject to communication delays between the neighboring agents. We consider a scenario where each agent is characterized by a general high-order linear system and…
Much recent progress has been achieved for stabilization of linear and nonlinear systems with input delays that are long and dependent on either time or the plant state---provided the dependence is known. In this paper we consider the delay…
A significant problem in designing mobile robot control systems involves coping with the uncertainty that arises in moving about in an unknown or partially unknown environment and relying on noisy or ambiguous sensor data to acquire…
This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction…
We study asymptotic behavior of solutions of the first-order linear consensus model with delay and anticipation, which is a system of neutral delay differential equations. We consider both the transmission-type and reaction-type delay that…