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Motivated by the prospect of nano-robots that assist human physiological functions at the nanoscale, we investigate the coating problem in the three-dimensional model for hybrid programmable matter. In this model, a single agent with…
Multimodal large language models (MLLMs) have advanced the capabilities to interpret and act on visual input in 3D environments, empowering diverse applications such as robotics and situated conversational agents. When MLLMs reason over…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
Fast catching of free-flying objects is difficult because of short reaction time, impact uncertainty, and kinodynamic constraints. We use reinforcement learning in simulation to collect successful catching trajectories and learn a…
Closed-loop control systems employ continuous sensing and actuation to maintain controlled variables within preset bounds and achieve the desired system output. Intentional disturbances in the system, such as in the case of cyberattacks,…
This paper addresses the problem of tracking mobile intruders in a polygonal environment. We assume that a team of diagonal guards is deployed inside the polygon to provide mobile coverage. First, we formulate the problem of tracking a…
We present a hybrid systems framework for distributed multi-agent optimization in which agents execute computations in continuous time and communicate in discrete time. The optimization algorithm is analogous to a continuous-time form of…
Exploration of unknown environments is a fundamental problem in robotics and an essential component in numerous applications of autonomous systems. A major challenge in exploring unknown environments is that the robot has to plan with the…
Coverage path planning in a generic known environment is shown to be NP-hard. When the environment is unknown, it becomes more challenging as the robot is required to rely on its online map information built during coverage for planning its…
Collision avoidance requires tradeoffs in planning time horizons. Depending on the planner, safety cannot always be guaranteed in uncertain environments given map updates. To mitigate situations where the planner leads the vehicle into a…
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…
Autonomous coverage of a specified area by robots operating in close proximity with each other has many potential applications such as real-time monitoring of rapidly changing environments, and search and rescue; however, coordination and…
This paper presents a novel control protocol for robust distance-based formation control with prescribed performance in which agents are subjected to unknown external disturbances. Connectivity maintenance and collision avoidance among…
The control of wave scattering in complex non-Hermitian settings is an exciting subject -- often challenging the creativity of researchers and stimulating the imagination of the public. Successful outcomes include invisibility cloaks,…
Accurate local state measurement is important to ensure the reliable operation of distributed multi-agent systems (MAS). Existing fault-tolerant control strategies generally assume the sensor faults to be bounded and uncorrelated. In this…
Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme. This paper focuses on the theoretical properties of the SfM, known as the incremental active depth…
The objective of this study is to develop a model-free workspace trajectory planner for space manipulators using a Twin Delayed Deep Deterministic Policy Gradient (TD3) agent to enable safe and reliable debris capture. A local control…
Dynamical Systems (DS) are an effective and powerful means of shaping high-level policies for robotics control. They provide robust and reactive control while ensuring the stability of the driving vector field. The increasing complexity of…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer while ensuring the pursuer's safety by preventing collisions with the target. The proposed guidance strategy steers the…