Related papers: Target Encirclement with any Smooth Pattern Using …
By using directional distance sensors that have unknown locations, this paper proposes a method of estimating the shape of a location-unknown target object $T$ moving with unknown speed on an unknown straight line trajectory. Regardless of…
We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…
We believe that the future of robot motion planning will look very different than how it looks today: instead of complex collision avoidance trajectories with a brittle dependence on sensing and estimation of the environment, motion plans…
This paper develops a provably stable sensor-driven controller for path-following applications of robots with unicycle kinematics, one specific class of which is the wheeled mobile robot (WMR). The sensor measurement is converted to a…
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds. The main idea consists in avoiding each obstacle via the shortest path on the cone's…
This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in the configuration space. To maintain safety, we synthesize a safe velocity based on control barrier function…
Attaching a heavy payload to the wrist force/moment (F/M) sensor of a manipulator can cause conventional impedance controllers to fail in establishing the desired impedance due to the presence of non-contact forces; namely, the inertial and…
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with…
Intercepting dynamic objects in uncertain environments involves a significant unresolved challenge in modern robotic systems. Current control approaches rely solely on estimated information, and results lack guarantees of robustness and…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
In this paper we propose an algorithm for path following control of the nonholonomic mobile robot based on the idea of the guiding vector field (GVF). The desired path may be an arbitrary smooth curve in its implicit form, that is, a level…
We present a decentralized control algorithm for a minimalist robotic swarm lacking memory, explicit communication, or relative position information, to encapsulate multiple diffusive target sources in a bounded environment. The…
Most impedance control schemes in robotics implement a desired passive impedance, allowing for stable interaction between the controlled robot and the environment. However, there is little guidance on the selection of the desired impedance.…
Measuring grasp stability is an important skill for dexterous robot manipulation tasks, which can be inferred from haptic information with a tactile sensor. Control policies have to detect rotational displacement and slippage from tactile…
The ability to automatically encircle boundaries with mobile robots is crucial for tasks such as border tracking and object enclosing. Previous research has primarily focused on regular boundaries, often assuming that their geometric…
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…
Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a…
We consider the problem of sample-based feedback-based motion planning from bearing (direction-only) measurements. We build on our previous work that defines a cell decomposition of the environment using RRT*, and finds an output feedback…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Trajectory and control secrecy is an important issue in robotics security. This paper proposes a novel algorithm for the control input inference of a mobile agent without knowing its control objective. Specifically, the algorithm first…