Related papers: Angle-Constrained Formation Control for Circular M…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
For legged robots, aerial motions are the only option to overpass obstacles that cannot be circumvent with standard locomotion gaits. In these cases, the robot must perform a leap to either jump onto the obstacle or fly over it. However,…
Formation and collision avoidance abilities are essential for multi-agent systems. Conventional methods usually require a central controller and global information to achieve collaboration, which is impractical in an unknown environment. In…
This paper addresses the problem of steering a robotic vehicle along a geometric path specified with respect to a reference frame moving in three dimensions, termed the Moving Path Following (MPF) motion control problem. The MPF motion…
This paper develops an algorithm that guides a multi-robot system in an unknown environment in search of fixed targets. The area to be scanned contains an unknown number of convex obstacles of unknown size and shape. The algorithm covers…
Modern autonomous systems, such as flying, legged, and wheeled robots, are generally characterized by high-dimensional nonlinear dynamics, which presents challenges for model-based safety-critical control design. Motivated by the success of…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…
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…
We report in experiment and simulation the spontaneous formation of dynamically bound pairs of shape changing robots undergoing locally repulsive collisions. These physical `gliders' robustly emerge from an ensemble of individually…
The motion control of wheeled mobile robots at high speeds under adverse ground conditions is a difficult task, since the robots' wheels may be subject to different kinds of slip. This work introduces an adaptive kinematic controller that…
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…
RecentadvancesinDistributedComputinghighlightmodelsandalgo- rithms for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. The overwhelming majority of works so far considers handmade algorithms…
This article examines the area coverage problem for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…
In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed…
Quadrupedal robots exhibit remarkable adaptability in unstructured environments, making them well-suited for formation control in real-world applications. However, keeping stable formations while ensuring collision-free navigation presents…
This study presents the design of a six-wheeled outdoor autonomous mobile robot. The main design goal of our robot is to increase its adaptability and flexibility when moving outdoors. This six-wheeled robot platform was equipped with some…
This work considers the distance constrained formation control problem with an additional constraint requiring that the formation exhibits a specified spatial symmetry. We employ recent results from the theory of symmetry-forced rigidity to…
This paper presents a derivation of a dynamic simulation of a steerable-wheel mobile robot with wheel slip. The robot is controlled using pure pursuit algorithm. Kalker simplified and linear theory of rolling contact are utilized to…