Related papers: A Hybrid Systems-based Hierarchical Control Archit…
This paper describes HARMONIC, a cognitive-robotic architecture that integrates the OntoAgent cognitive framework with general-purpose robot control systems applied to human-robot teaming (HRT). HARMONIC incorporates metacognition,…
This work presents a hierarchical architecture for the optimal management of an ensemble of steam generators, which needs to jointly sustain a common load. The coordination of independent subsystems is provided by a multi-layer control…
Studies of human-robot interaction in dynamic and unstructured environments show that as more advanced robotic capabilities are deployed, the need for cooperative competencies to support collaboration with human problem-holders increases.…
This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…
This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…
In recent years, artificial intelligence (AI) technologies have found industrial applications in various fields. AI systems typically possess complex software and heterogeneous CPU/GPU hardware architecture, making it difficult to answer…
Hierarchical inverse dynamics based on cascades of quadratic programs have been proposed for the control of legged robots. They have important benefits but to the best of our knowledge have never been implemented on a torque controlled…
We introduce a holistic framework for the analysis, approximation and control of the trajectories of hybrid dynamical systems which display event-triggered discrete jumps in the continuous state. We begin by demonstrating how to explicitly…
The growing spread of robots for service and industrial purposes calls for versatile, intuitive and portable interaction approaches. In particular, in industrial environments, operators should be able to interact with robots in a fast,…
While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Shared autonomy functions as a flexible framework that empowers robots to operate across a spectrum of autonomy levels, allowing for efficient task execution with minimal human oversight. However, humans might be intimidated by the…
In this paper, we propose a distributed multi-stage optimization method for planning complex missions for heterogeneous multi-robot teams. This class of problems involves tasks that can be executed in different ways and are associated with…
The requirements for real-world manipulation tasks are diverse and often conflicting; some tasks require precise motion while others require force compliance; some tasks require avoidance of certain regions, while others require convergence…
Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…
This paper focuses on the teaming aspects and the role of heterogeneity in a multi-robot system applied to robot-aided urban search and rescue (USAR) missions. We propose a needs-driven multi-robot cooperation mechanism represented through…
Effective control and prediction of dynamical systems often require appropriate handling of continuous-time and discrete, event-triggered processes. Stochastic hybrid systems (SHSs), common across engineering domains, provide a formalism…
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…
In this work, we propose a novel shared autonomy framework to operate articulated robots. We provide strategies to design both the task-oriented hierarchical planning and policy shaping algorithms for efficient human-robot interactions in…
We investigate the problem of autonomous racing among teams of cooperative agents that are subject to realistic racing rules. Our work extends previous research on hierarchical control in head-to-head autonomous racing by considering a…
Supervisory-based human-robot teams are deployed in various dynamic and extreme environments (e.g., space exploration). Achieving high task performance in such environments is critical, as a mistake may lead to significant monetary loss or…