Related papers: Trajectory tracking control for nonholonomic mobil…
In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…
The approximate nonlinear receding-horizon control law is used to treat the trajectory tracking control problem of rigid link robot manipulators. The derived nonlinear predictive law uses a quadratic performance index of the predicted…
The design process and complexity of existing safety controls are heavily determined by the geometrical properties of the environment, which affects the proof of convergence, design scalability, performance robustness, and numerical…
This paper addresses the consensus problem and the formation problem on SE(3) in multi-agent systems with directed and switching interconnection topologies. Several control laws are introduced for the consensus problem. By a simple…
Reliable autonomous navigation requires adapting the control policy of a mobile robot in response to dynamics changes in different operational conditions. Hand-designed dynamics models may struggle to capture model variations due to a…
We investigate optimal control of dynamical systems which are affine, i.e., linear in control, but nonlinear in state. The control task is to enforce the system state to follow a prescribed desired trajectory as closely as possible, a task…
The movement of cooperative robots in a densely cluttered environment may not be possible if the formation type is invariant. Hence, we investigate a new method for time-varying formation control for a group of heterogeneous autonomous…
Safe and smooth robot motion around obstacles is an essential skill for autonomous robots, especially when operating around people and other robots. Conventionally, due to real-time operation requirements and onboard computation…
Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…
This paper addresses the trajectory-tracking problem for a class of electromechanical systems. To this end, the dynamics of the plants are modeled in the so-called port-Hamiltonian framework. Then, the notion of contraction is exploited to…
This paper investigates the car-following problem and proposes a nonlinear controller that considers driving comfort, safety concerns, steady-state response and transient response. This controller is designed based on the demands of lower…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
A novel dynamic model-based trajectory tracking control law is proposed for a four-wheel differentially driven mobile robot using a backstepping technique that guarantees the Lyapunov stability. The present work improves the work of…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
In this work, we address traffic management of multiple payload transport systems comprising of non-holonomic robots. We consider loosely coupled rigid robot formations carrying a payload from one place to another. Each payload transport…
Tracking controllers enable robotic systems to accurately follow planned reference trajectories. In particular, reinforcement learning (RL) has shown promise in the synthesis of controllers for systems with complex dynamics and modest…
This paper considers an adaptive tracking control problem for stochastic regression systems with multi-threshold quantized observations. Different from the existing studies for periodic reference signals, the reference signal in this paper…
Real-time adaptation is imperative to the control of robots operating in complex, dynamic environments. Adaptive control laws can endow even nonlinear systems with good trajectory tracking performance, provided that any uncertain dynamics…
We generalize the well-studied problem of gait learning in modular robots in two dimensions. Firstly, we address locomotion in a given target direction that goes beyond learning a typical undirected gait. Secondly, rather than studying one…
Modular robots can be rearranged into a new design, perhaps each day, to handle a wide variety of tasks by forming a customized robot for each new task. However, reconfiguring just the mechanism is not sufficient: each design also requires…