Related papers: Decentralized Control of a Hexapod Robot Using a W…
In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
This paper presents a novel decentralized control strategy for a multi-robot system that enables parallel multi-target exploration while ensuring a time-varying connected topology in cluttered 3D environments. Flexible continuous…
Animals possess a remarkable ability to navigate challenging terrains, achieved through the interplay of various pathways between the brain, central pattern generators (CPGs) in the spinal cord, and musculoskeletal system. Traditional…
The problem of time synchronization in dense wireless networks is considered. Well established synchronization techniques suffer from an inherent scalability problem in that synchronization errors grow with an increasing number of hops…
Phase, time, and frequency coordination are crucial for the coherent operation of distributed antenna arrays. This paper demonstrates a high accuracy decentralized time synchronization method for arrays with dynamic connectivity. To…
We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one…
Teleoperated humanoid robots hold significant potential as physical avatars for humans in hazardous and inaccessible environments, with the goal of channeling human intelligence and sensorimotor skills through these robotic counterparts.…
Networked control systems are feedback control systems with system components distributed at different locations connected through a communication network. Since the communication network is carried out through the internet and there are…
Robotic surface consisting of many actuators can change shape to perform tasks, such as facilitating human-machine interactions and transporting objects. Increasing the number of actuators can enhance the robot's capacity, but controlling…
Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear…
Effective multi-robot teams require the ability to move to goals in complex environments in order to address real-world applications such as search and rescue. Multi-robot teams should be able to operate in a completely decentralized…
This work presents a decentralized time synchronization algorithm for multi-agent systems. Each agent possesses two clocks, a hardware clock that is perturbed by environmental phenomena (e.g., temperature, humidity, pressure, g forces,…
A robotic system can be viewed as a collection of lower-dimensional systems that are coupled via reaction forces (Lagrange multipliers) enforcing holonomic constraints. Inspired by this viewpoint, this paper presents a novel formulation for…
We propose a decentralized control algorithm for a minimalistic robotic swarm with limited capabilities such that the desired global behavior emerges. We consider the problem of searching for and encapsulating various targets present in the…
Humanoid robots are increasingly demanded to operate in interactive and human-surrounded environments while achieving sophisticated locomotion and manipulation tasks. To accomplish these tasks, roboticists unremittingly seek for advanced…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
It has been shown that max-plus linear systems are well suited for applications in synchronization and scheduling, such as the generation of train timetables, manufacturing, or traffic. In this paper we show that the same is true for…
In our previous work, we studied an interconnected bursting neuron model for insect locomotion, and its corresponding phase oscillator model, which at high speed can generate stable tripod gaits with three legs off the ground simultaneously…
In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory…
This paper introduces a six-legged autonomous robot managed by a single controller and a software core modeled on subsumption architecture. We begin by discussing the features and capabilities of IsoPod, a new processor for robotics which…