Related papers: A Hybrid Systems-based Hierarchical Control Archit…

When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…

Hybrid systems are prevalent in robotics. However, ensuring the stability of hybrid systems is challenging due to sophisticated continuous and discrete dynamics. A system with all its system modes stable can still be unstable. Hence special…

Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…

Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using…

In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain contacts with the environment regardless of positional errors. We…

This paper proposes an approach to addresses the control challenges posed by a fault-induced uncertainty in both the dynamics and control input effectiveness of a class of hierarchical nonlinear systems in which the high-level dynamics is…

Robotic fleets can be extremely efficient when working concurrently and collaboratively, e.g., for delivery, surveillance, search and rescue. However, it can be demanding or even impractical for an operator to directly control each robot.…

Limit cycles are self-sustained, closed trajectories in phase space representing (un)-stable, periodic behavior in nonlinear dynamical systems. They underpin diverse natural phenomena, from neuronal firing patterns to engineering…

In this paper, we propose a coverage control system for a multi-robot team with heterogeneous capabilities to patrol or monitor a bounded environment. The capability could be defined as any criterion of robots like remaining power or mobile…

Hybrid dynamical systems are viewed as the most complicated systems with continuous and event-based behaviors. Since traditional controllers cannot handle these systems, some newly-developed controllers have been published in recent decades…

In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…

We consider a scenario where a team of robots with heterogeneous sensors must track a set of hostile targets which induce sensory failures on the robots. In particular, the likelihood of failures depends on the proximity between the targets…

This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…

Behavior planning and decision-making are some of the biggest challenges for highly automated systems. A fully automated vehicle (AV) is confronted with numerous tactical and strategical choices. Most state-of-the-art AV platforms implement…

Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…

Delays are ubiquitous in modern hybrid systems, which exhibit both continuous and discrete dynamical behaviors. Induced by signal transmission, conversion, the nature of plants, and so on, delays may appear either in the continuous…

Despite the fact that robotic platforms can provide both consistent practice and objective assessments of users over the course of their training, there are relatively few instances where physical human robot interaction has been…

Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…

In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…

Hybrid dynamical systems with nonlinear dynamics are one of the most general modeling tools for representing robotic systems, especially contact-rich systems. However, providing guarantees regarding the safety or performance of nonlinear…