Related papers: A Hybrid Approach for Trajectory Control Design
Direct design of a robot's rendered dynamics, such as in impedance control, is now a well-established control mode in uncertain environments. When the physical interaction port variables are not measured directly, dynamic and kinematic…
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space with a single spherical obstacle. The robot moves straight…
Approach and landing accidents have resulted in a significant number of hull losses worldwide. Technologies (e.g., instrument landing system) and procedures (e.g., stabilized approach criteria) have been developed to reduce the risks. In…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…
This paper proposes a receding horizon active learning and control problem for dynamical systems in which Gaussian Processes (GPs) are utilized to model the system dynamics. The active learning objective in the optimization problem is…
This paper presents a systematic approach to nonlinear state-feedback control design that has three main advantages: (i) it ensures exponential stability and $ \mathcal{L}_2 $-gain performance with respect to a user-defined set of reference…
In this paper, we present an impedance control design for multi-variable linear and nonlinear robotic systems. The control design considers force and state feedback to improve the performance of the closed loop. Simultaneous feedback of…
This paper presents a robust tracking controller for tracking curvature-constrained paths by vehicles/robots with uncertain Dubins dynamics. Although Dubins paths have been widely used in vehicular and robotic applications, robust and…
This paper presents tracking control laws for two different objectives of a nonholonomic system - a spherical robot - using a geometric approach. The first control law addresses orientation tracking using a modified trace potential…
A fundamental aspect of racing is overtaking other race cars. Whereas previous research on autonomous racing has majorly focused on lap-time optimization, here, we propose a method to plan overtaking maneuvers in autonomous racing. A…
Motion trajectory planning is one crucial aspect for automated vehicles, as it governs the own future behavior in a dynamically changing environment. A good utilization of a vehicle's characteristics requires the consideration of the…
Gaussian processes (GPs) are widely used as surrogate models for emulating computer code, which simulate complex physical phenomena. In many problems, additional boundary information (i.e., the behavior of the phenomena along input…
Multi-robot systems are essential for environmental monitoring, particularly for tracking spatial phenomena like pollution, soil minerals, and water salinity, and more. This study addresses the challenge of deploying a multi-robot team for…
Hybrid systems theory has become a powerful approach for designing feedback controllers that achieve dynamically stable bipedal locomotion, both formally and in practice. This paper presents an analytical framework 1) to address…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
A novel method for control of dynamical systems, proposed in the paper, ensures an output signal belonging to the given set at any time. The method is based on a special change of coordinates such that the initial problem with given…
In industrial context, admittance control represents an important scheme in programming robots for interaction tasks with their environments. Those robots usually implement high-gain disturbance rejection on joint-level and hide direct…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
Dynamic behavior of traffic adversely affect the performance of the prediction models in intelligent transportation applications. This study applies Gaussian processes (GPs) to traffic speed prediction. Such predictions can be used by…
This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…