Related papers: Connectivity Maintenance: Global and Optimized app…

This paper considers the optimal control problem of connecting two periodic trajectories with maximal persistence. A maximally persistent trajectory is close to the periodic type in the sense that the norm of the image of this trajectory…

Executing multiple tasks concurrently is important in many robotic applications. Moreover, the prioritization of tasks is essential in applications where safety-critical tasks need to precede application-related objectives, in order to…

While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…

Systems of networked mobile robots, such as unmanned aerial or ground vehicles, will play important roles in future military and commercial applications. The communications for such systems will typically be over wireless links and may…

In the context of constraint-driven control of multi-robot systems, in this paper, we propose an optimization-based framework that is able to ensure resilience and energy-awareness of teams of robots. The approach is based on a novel,…

Harmful marine spills, such as algae blooms and oil spills, damage ecosystems and threaten public health tremendously. Hence, an effective spill coverage and removal strategy will play a significant role in environmental protection. In…

In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…

We propose a general framework for creating parameterized control schemes for decentralized multi-robot systems. A variety of tasks can be seen in the decentralized multi-robot literature, each with many possible control schemes. For…

One critical value microgrids bring to power systems is resilience, the capability of being able to island from the main grid under certain conditions and connect back when necessary. Once islanded, a microgrid must be synchronized to the…

Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…

This paper provides an introduction and overview of recent work on control barrier functions and their use to verify and enforce safety properties in the context of (optimization based) safety-critical controllers. We survey the main…

Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…

Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…

Safety in terms of collision avoidance for multi-robot systems is a difficult challenge under uncertainty, non-determinism and lack of complete information. This paper aims to propose a collision avoidance method that accounts for both…

Multi-robot control in cluttered environments is a challenging problem that involves complex physical constraints, including robot-robot collisions, robot-obstacle collisions, and unreachable motions. Successful planning in such settings…

Relational networks within a team play a critical role in the performance of many real-world multi-robot systems. To successfully accomplish tasks that require cooperation and coordination, different agents (e.g., robots) necessitate…

This paper presents a distributed, optimal, communication-aware trajectory planning algorithm for multi-robot systems. Building on prior work, it addresses the multi-robot communication-aware trajectory planning problem using a general…

As robotic swarm systems emerge, it is increasingly important to provide strong guarantees on energy consumption and safety to maximize system performance. One approach to achieve these guarantees is through constraint-driven control, where…

Dynamic Connectivity is a fundamental algorithmic graph problem, motivated by a wide range of applications to social and communication networks and used as a building block in various other algorithms, such as the bi-connectivity and the…

Robustness is key to engineering, automation, and science as a whole. However, the property of robustness is often underpinned by costly requirements such as over-provisioning, known uncertainty and predictive models, and known adversaries.…