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In this paper it is established that any jointly controllable, jointly observable, multi-channel, discrete or continuous time linear system with a strongly connected neighbor (communication) graph can be exponentially stabilized with any…
Voltage control in power distribution networks has been greatly challenged by the increasing penetration of volatile and intermittent devices. These devices can also provide limited reactive power resources that can be used to regulate the…
Robust qubit-qubit interactions mediated by bosonic modes are central to many quantum technologies. Existing proposals combining fast oscillator-mediated gates with dynamical decoupling require strong pulses or fast control over the…
We present an efficient technique for control of synchrony in a globally coupled ensemble by pulsatile action. We assume that we can observe the collective oscillation and can stimulate all elements of the ensemble simultaneously. We pay…
The importance of pulse-coupled oscillators (PCOs) in biology and engineering has motivated research to understand basic properties of PCO networks. Despite the large body of work addressing PCOs, a global synchronization result for…
This paper introduces an analytical framework for the derivation of hybrid equations of motion of a flexible quadrotor. This approach helps obtain rigid and elastic equations of motion simultaneously, in a decoupled form, which facilitates…
We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…
Controlling large-scale particle or robot systems is challenging because of their high dimensionality. We use a centralized stochastic approach that allows for optimal control at the cost of a central element instead of a decentralized…
Overcoming robotics challenges in the real world requires resilient control systems capable of handling a multitude of environments and unforeseen events. Evolutionary optimization using simulations is a promising way to automatically…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately,…
Many technical solutions are bio-inspired. Octopus-inspired robotic arms belong to continuum robots which are used in minimally invasive surgery or for technical system restoration in areas difficult-toaccess. Continuum robot missions are…
We analyze the physical mechanisms leading either to synchronization or to the formation of spatio-temporal patterns in a lattice model of pulse-coupled oscillators. In order to make the system tractable from a mathematical point of view we…
We derive optimal periodic controls for entrainment of a self-driven oscillator to a desired frequency. The alternative objectives of minimizing power and maximizing frequency range of entrainment are considered. A state space…
The precision of synchronization algorithms based on the theory of pulse-coupled oscillators is evaluated on FPGA-based radios for the first time. Measurements show that such algorithms can reach precision in the low microsecond range when…
In systems of coupled oscillators, the effects of complex signaling can be captured by time delays and phase shifts. Here, we show how time delays and phase shifts lead to different oscillator dynamics and how synchronization rates can be…
The implementation feasibility of control algorithms over very large-scale networks calls for hard constraints regarding communication, computational, and memory requirements. In this paper, the decentralized receding horizon control…
An important capability of autonomous multi-robot systems is to prevent collision among the individual robots. One approach to this problem is to plan conflict-free trajectories and let each of the robots follow its pre-planned trajectory.…
Weakly coupled limit cycle oscillators can be reduced into a system of weakly coupled phase models. These phase models are helpful to analyze the synchronization phenomena. For example, a phase model of two oscillators has a one-dimensional…
For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…