Related papers: Decentralized Heading Control with Rate Constraint…
In this work, we consider the problem of decentralized multi-robot target tracking and obstacle avoidance in dynamic environments. Each robot executes a local motion planning algorithm which is based on model predictive control (MPC). The…
Coupled mechanical oscillations were first observed in paired pendulum clocks in the mid-seventeenth century and were extensively studied for their novel sympathetic oscillation dynamics. In this era of nanotechnologies, coupled…
Natural language interfaces can simplify interaction with multi-robot systems, especially when non-expert users need to issue high-level commands. Acoustic manipulation using ultrasonic phased arrays also enables contactless object handling…
The work presented here is a novel biological approach for the compliant control of a robotic arm in real time (RT). We integrate a spiking cerebellar network at the core of a feedback control loop performing torque-driven control. The…
We propose an efficient protocol for decentralized training of deep neural networks from distributed data sources. The proposed protocol allows to handle different phases of model training equally well and to quickly adapt to concept…
We propose a population model for $\delta$-pulse-coupled oscillators with sparse connectivity. The model is given as an evolution equation for the phase density which take the form of a partial differential equation with a non-local term.…
We discuss synchronization in networks of neuronal oscillators which are interconnected via diffusive coupling, i.e. linearly coupled via gap junctions. In particular, we present sufficient conditions for synchronization in these networks…
Coherent optical control schemes exploit the coherence of laser pulses to change the phases of interfering dynamical pathways in order to manipulate dynamical processes. These active control methods are closely related to dynamical…
Oscillations between swing modes of electric machines is an important limitation in achieving a high level of transient performance and reliability in power grids. Based on the new advances in measurement and transmission of wide-area…
A minimalistic model of the half-center oscillator is proposed. Within it, we consider dynamics of two excitable neurons interacting by means of the excitatory coupling. In the parameter space of the model, we identify the regions of…
This paper presents a kinematically constrained planar hybrid cable-driven parallel robot (HCDPR) for warehousing applications as well as other potential applications such as rehabilitation. The proposed HCDPR can harness the strengths and…
We implement dynamical decoupling techniques to mitigate noise and enhance the lifetime of an entangled state that is formed in a superconducting flux qubit coupled to a microscopic two-level system. By rapidly changing the qubit's…
Balancing and reacting to strong and unexpected pushes is a critical requirement for humanoid robots. We recently designed a capture point based approach which interfaces with a momentum-based torque controller and we implemented and…
Cluster synchronization is a fundamental phenomenon in systems of coupled oscillators. Here, we investigate clustering patterns that emerge in a unidirectional ring of four delay-coupled electrochemical oscillators. A voltage parameter in…
Dynamical decoupling is a coherent control technique where the intrinsic and extrinsic couplings of a quantum system are effectively averaged out by application of specially designed driving fields (refocusing pulse sequences). This entails…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
Sufficient conditions for complete controllability of $N$-level quantum systems subject to a single control pulse that addresses multiple allowed transitions concurrently are established. The results are applied in particular to Morse and…
This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower…
Refocusing, or dynamical decoupling, is a coherent control technique where the internal dynamics of a quantum system is effectively averaged out by an application of specially designed driving fields. The method has originated in nuclear…
This paper addresses the optimal control of Connected and Automated Vehicles (CAVs) arriving from two roads at a merging point where the objective is to jointly minimize the travel time and energy consumption of each CAV. The solution…