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In Wireless Networked Control Systems (WNCSs), the feedback control loops are closed over a wireless communication network. The proliferation of WNCSs requires efficient network resource management mechanisms since the control performance…
Soccer kicking is a complex whole-body motion that requires intricate coordination of various motor actions. To accomplish such dynamic motion in a humanoid robot, the robot needs to simultaneously: 1) transfer high kinetic energy to the…
In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative controller to be implemented on each robot so that their motion…
We propose an information transmission scheme by a swarm of anonymous oblivious mobile robots on a graph. The swarm of robots travel from a sender vertex to a receiver vertex to transmit a symbol generated at the sender. The codeword for a…
Communication among microscopic robots (nanorobots) can coordinate their activities for biomedical tasks. The feasibility of in vivo ultrasonic communication is evaluated for micron-size robots broadcasting into various types of tissues.…
Advanced industrial applications for human-machine interaction such as augmented reality support for maintenance works or mobile control panels for operating production facility set high demands on underlying wireless connectivity solution.…
We study the Symmetric Rendezvous Search Problem for a multi-robot system. There are $n>2$ robots arbitrarily located on a line. Their goal is to meet somewhere on the line as quickly as possible. The robots do not know the initial location…
Mobile robots have been widely used in various aspects of human life. When a robot moves between different positions in the working area to perform the task, controlling motion to follow a pre-defined path is the primary task of a mobile…
Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait…
We introduce our concept on the modular wireless robot consisting of three main modules : main unit, data acquisition and data processing modules. We have developed a generic prototype with an integrated control and monitoring system to…
This paper studies a wireless networked control system with multiple base stations (BSs) cooperatively coordinating the wireless control of a number of subsystems each consisting of a plant, a sensor, and an actuator. In this system, each…
Communication remains a key factor limiting the applicability of distributed model predictive control (DMPC) in realistic settings, despite advances in wireless communication. DMPC schemes can require an overwhelming amount of information…
Swarm foraging is a common test case application for multi-robot systems. In this paper we present a novel algorithm for controlling swarm robots with limited communication range and storage capacity to efficiently search for and retrieve…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
The dispersion problem on graphs asks $k\leq n$ robots placed initially arbitrarily on the nodes of an $n$-node anonymous graph to reposition autonomously to reach a configuration in which each robot is on a distinct node of the graph. This…
Optimal control of a mobile robot system is formulated. Multiobjective criteria of time and energy is employed. The optimal control problem is formulated as a nonlinear programming problem (NLP). The problem is solved using the direct…
We consider the problem of tracking moving targets using mobile wireless sensors (of possibly different types). This is a joint estimation and control problem in which a tracking system must take into account both target and sensor…
WSNs can be considered a distributed control system designed to react to sensor information with an effective and timely action. For this reason, in WSNs it is important to provide real-time coordination and communication to guarantee…
Imagine that a swarm of robots is given, these robots must communicate with each other, and they can do so if certain conditions are met. We say that the swarm is connected if there is at least one way to send a message between each pair of…
Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic…