Related papers: Energy-Optimal Motion Planning for Agents: Barycen…
This paper considers the problem of optimally balancing motion energy and communication transmission energy of a mobile robot tasked with transmitting a given number of data bits to a remote station, while navigating to a prespecified…
This paper presents a computationally efficient model predictive control formulation that uses an integral Chebyshev collocation method to enable rapid operations of autonomous agents. By posing the finite-horizon optimal control problem…
This paper considers the problem of maintaining global connectivity of a multi-robot system while executing a desired coordination task. Our approach builds on optimization-based feedback design formulations, where the nominal cost function…
A core challenge of multi-robot interactions is collision avoidance among robots with potentially conflicting objectives. We propose a game-theoretic method for collision avoidance based on rotating hyperplane constraints. These constraints…
This article presents a method to automatically generate energy-optimal trajectories for systems with linear dynamics, linear constraints, and a quadratic cost functional (LQ systems). First, using recent advancements in optimal control, we…
We present an active control scheme of a kinetic model of swarming. It has been shown previously that the global control scheme for the model, presented in \cite{JK04}, gives rise to spontaneous collective organization of agents into a…
This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy…
The study of robotic flocking has received significant attention in the past twenty years. In this article, we present a constraint-driven control algorithm that minimizes the energy consumption of individual agents and yields an emergent V…
This paper proposes a robust optimal eco-driving control strategy considering multiple signalized intersections with uncertain traffic signal timing. A spatial vehicle velocity profile optimization formulation is developed to minimize the…
Earlier work has established a decentralized framework of optimally controlling connected and automated vehicles (CAVs) crossing an urban intersection without using explicit traffic signaling. The proposed solution is capable of minimizing…
A wide range of applications require or can benefit from collaborative behavior of a group of agents. The technical challenge addressed in this chapter is the development of a decentralized control strategy that enables each agent to…
A flexible operation of multiple robotic manipulators in a shared workspace requires an online trajectory planning with static and dynamic collision avoidance. In this work, we propose a real-time capable motion control algorithm, based on…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
In cooperative multi-agent robotic systems, coordination is necessary in order to complete a given task. Important examples include search and rescue, operations in hazardous environments, and environmental monitoring. Coordination, in…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
Robots must make and break contact with the environment to perform useful tasks, but planning and control through contact remains a formidable challenge. In this work, we achieve real-time contact-implicit model predictive control with a…
This paper tackles the problem of safe and efficient area coverage using a multi-agent system operating in environments with obstacles. Applications such as environmental monitoring and search and rescue require robot swarms to cover large…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
In this paper, we present an innovative risk-bounded motion planning methodology for stochastic multi-agent systems. For this methodology, the disturbance, noise, and model uncertainty are considered; and a velocity obstacle method is…
This paper focuses on energy-efficient longitudinal controller design for a connected automated truck that travels in mixed traffic consisting of connected and non-connected vehicles. The truck has access to information about connected…