Related papers: Decentralized Heading Control with Rate Constraint…
Synchronization and desynchronization in networks is a highly studied topic in many electrical systems, but there is a distinct lack of research on this topic with respect to robotics. Creating an effective decentralized synchronization…
Brain networks typically exhibit characteristic synchronization patterns where several synchronized clusters coexist. On the other hand, neurological disorders are considered to be related to pathological synchronization such as excessive…
The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…
The harmonic oscillator is one of the simplest physical systems but also one of the most fundamental. It is ubiquitous in nature, often serving as an approximation for a more complicated system or as a building block in larger models.…
We investigate the engineering scenario where the objective is to synchronize heterogeneous oscillators in a distributed fashion. The internal dynamics of each oscillator are general enough to capture their time-varying natural frequency as…
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…
In this paper, we present a robust distributed model predictive control (DMPC) scheme for dynamically decoupled nonlinear systems which are subject to state constraints, coupled state constraints and input constraints. In the proposed…
The property of desynchronization in an all-to-all network of homogeneous impulse-coupled oscillators is studied. Each impulse-coupled oscillator is modeled as a hybrid system with a single timer state that self-resets to zero when it…
Redundancy and parallelism make decentralized multi-robot systems appealing solutions for the exploration of extreme environments. However, effective cooperation often requires team-wide connectivity and a carefully designed communication…
We consider the integrate-and-fire model of the cardiac pacemaker with delayed pulsatile coupling. Sufficient conditions of synchronization are obtained for identical and non-identical oscillators.
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
We propose a hybrid approach for decentralized multi-robot navigation that ensures both safety and deadlock prevention. Building on a standard control formulation, we add a lightweight deadlock prevention mechanism by forming temporary…
This work presents a decentralized motion planning framework for addressing the task of multi-robot navigation using deep reinforcement learning. A custom simulator was developed in order to experimentally investigate the navigation problem…
Robots and control systems rely upon precise timing of sensors and actuators in order to operate intelligently. We present a functioning hexapod robot that walks with a dual tripod gait; each tripod is actuated using its own local…
Understanding complex systems which exhibit desynchronization as an emergent property should have important implications, particularly in treating neurological disorders and designing efficient communication networks. Here were demonstrate…
Synchronization of coupled oscillators is observed in many natural and engineered systems and emerges due to the interactions within the system. It can be both beneficial, e.g., in power grids, and harmful, e.g., in epileptic seizures. In…
We suggest an adaptive control scheme for the control of zero-lag and cluster synchronization in delay-coupled networks. Based on the speed-gradient method, our scheme adapts the topology of a network such that the target state is realized.…
This paper deals with an optimal control problem associated to the Kuramoto model describing the dynamical behavior of a network of coupled oscillators. Our aim is to design a suitable control function allowing us to steer the system to a…
Synchronization is a ubiquitous phenomenon in nature. Although it is necessary for the functioning of many systems, too much synchronization can also be detrimental, e.g., (partially) synchronized brain patterns support high-level cognitive…