Related papers: An Optimization Approach for a Robust and Flexible…
This paper investigates the planning and control problems for multi-robot systems under linear temporal logic (LTL) specifications. In contrast to most of existing literature, which presumes a static and known environment, our study focuses…
In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking…
This paper considers risk-sensitive model predictive control for stochastic systems with a decision-dependent distribution. This class of systems is commonly found in human-robot interaction scenarios. We derive computationally tractable…
The Robotarium, a remotely accessible swarm-robotics testbed, has provided free, open access to robotics and controls research for hundreds of users in thousands of experiments. This high level of usage requires autonomy in the system,…
In the field of Human-Robot Interaction (HRI), many researchers study shared control systems. Shared control is when a person and agent both contribute to the performance of a task in a collaborative way, often by providing control inputs…
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…
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a…
Several design parameters in collective robotic systems have been investigated and developed in order to explore the cooperation among the autonomous robotic individuals in a variety of robotic swarms in the presence of different internal…
In this paper we propose a control framework that enables robots to execute tasks persistently, i.e., over time horizons much longer than robots' battery life. This is achieved by ensuring that the energy stored in the batteries of the…
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…
The foundation of this paper is an experiment of fifteen participants interacting directly with an autonomous robot. The task for the participants was to carry a table, in two different setups, together with a robot, which is intended to…
Field robot systems have recently been applied to a wide range of research fields. Making such systems more automated, advanced, and activated requires cooperation among heterogeneous robots. Classic control theory is inefficient in…
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees since robots coordinate with human actions in a shared workspace. This paper presents a novel fixed-time adaptive neural control methodology for…
When developing general purpose robots, the overarching software architecture can greatly affect the ease of accomplishing various tasks. Initial efforts to create unified robot systems in the 1990s led to hybrid architectures, emphasizing…
Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These…
In this paper, we study cooperative multi-agent systems in which the target objective and the controls exercised by the agents are dependent on the choices they made at initial system time. Such systems have been investigated in several…
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy considers the complete coupled dynamics of the system and…
Soft robotics has advanced rapidly, yet its control methods remain fragmented: different morphologies and actuation schemes still require task-specific controllers, hindering theoretical integration and large-scale deployment. A generic…
The topic of joint actions has been deeply studied in the context of Human-Human interaction in order to understand how humans cooperate. Creating autonomous robots that collaborate with humans is a complex problem, where it is relevant to…
Soft robots have the potential to revolutionize the use of robotic systems with their capability of establishing safe, robust, and adaptable interactions with their environment, but their precise control remains challenging. In contrast,…