Related papers: Stability Analysis of Gradient-Based Distributed F…
In contact-rich tasks, setting the stiffness of the control system is a critical factor in its performance. Although the setting range can be extended by making the stiffness matrix asymmetric, its stability has not been proven. This study…
In this work, we explore emergent behaviors by swarms of anonymous, homogeneous, non-communicating, reactive robots that do not know their global position and have limited relative sensing. We introduce a novel method that enables such…
Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a complex environment. A control design that generalizes to…
Understanding the relationship between symmetry breaking, system properties, and instabilities has been a problem of longstanding scientific interest. Symmetry-breaking instabilities underlie the formation of important patterns in driven…
We consider the distributed control of a network of heterogeneous agents with double integrator dynamics to maintain a rigid formation in 1D Euclidean space. The control signal at a vehicle is allowed to use relative position and velocity…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
Rigidity of the interaction graph is a fundamental condition for achieving the desired formation which can be defined in terms of distance or bearing constraints between agents. In this paper, for reaching a unique formation with the same…
This paper studies the $\alpha$-stability property of differentially flat nonlinear dynamical systems. The results build off the recently introduced notion of $\alpha$-stability, which is particularly amenable to characterize the ability of…
This paper considers a novel problem of how to choose an appropriate geometry for a group of agents with only shape constraints but with a flexible scale. Instead of assigning the formation system with a specific geometry, here the only…
A technique that allows a Formation-Enforcing Control (FEC) derived from graph rigidity theory to interface with a realistic relative localization system onboard lightweight Unmanned Aerial Vehicles (UAVs) is proposed in this paper. The…
In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…
Learning or identifying dynamics from a sequence of high-dimensional observations is a difficult challenge in many domains, including reinforcement learning and control. The problem has recently been studied from a generative perspective…
This paper designs a servo control system based on sliding mode control for the shape control of elastic objects. In order to solve the effect of non-smooth and asymmetric control saturation, a Gaussian-based continuous differentiable…
Stable locomotion in precipitous environments is an essential task for quadruped robots, requiring the ability to resist various external disturbances. Recent neural policies enhance robustness against disturbances by learning to resist…
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…
We address the tracking problem for a class of uncertain non-affine nonlinear systems with high relative degrees, performing non-repetitive tasks. We propose a rigorously proven, robust adaptive learning control scheme that relies on a…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…
A quadruped robot faces balancing challenges on a six-degrees-of-freedom moving platform, like subways, buses, airplanes, and yachts, due to independent platform motions and resultant diverse inertia forces on the robot. To alleviate these…