Related papers: Distributed Containment Reference Signal for Nonho…
A plug-and-play model predictive control (PnP MPC) scheme is proposed for varying-topology networks to track piecewise constant references. The proposed scheme allows subsystems to occasionally join and leave the network while preserving…
In this paper we consider three different synchronization problems consisting in designing a nonlinear feedback unidirectional coupling term for two (possibly chaotic) dynamical systems in order to drive the trajectories of one of them, the…
A stochastic model predictive control framework over unreliable Bernoulli communication channels, in the presence of unbounded process noise and under bounded control inputs, is presented for tracking a reference signal. The data losses in…
We introduce a representation learning framework for spatial trajectories. We represent partial observations of trajectories as probability distributions in a learned latent space, which characterize the uncertainty about unobserved parts…
This paper presents a novel approach to coordinated vehicle platooning, where the platoon followers communicate solely with the platoon leader. A dynamic model is proposed to account for driving safety under communication delays. General…
This paper presents a nonlinear control design for highly underactuated balance robots, which possess more numbers of unactuated degree-of-freedom (DOF) than actuated ones. To address the challenge of simultaneously trajectory tracking of…
Virtual constraints are relations imposed on a control system that become invariant via feedback control, as opposed to physical constraints acting on the system. Nonholonomic systems are mechanical systems with non-integrable constraints…
This work proposes a framework for Cooperative Adaptive Cruise Control of a vehicular platoon characterized by unidirectional communication and heterogeneous parameters. In the proposed framework, the actual (heterogeneous) platoon is made…
The highway vehicular ad hoc networks, where vehicles are wirelessly inter-connected, rely on the multi-hop transmissions for end-to-end communications. This, however, is severely challenged by the unreliable wireless connections, signal…
In this work, we propose a learning based neural model that provides both the longitudinal and lateral control commands to simultaneously navigate multiple vehicles. The goal is to ensure that each vehicle reaches a desired target state…
This paper addresses the problem of cooperative object transportation for multiple Underwater Vehicle Manipulator Systems (UVMSs) in a constrained workspace involving static obstacles. We propose a Nonlinear Model Predictive Control (NMPC)…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
This paper investigates the cooperative control of multiple unmanned and manned vehicles via an output containment control approach for heterogeneous discrete-time multiagent systems. The unmanned vehicles act as leading vehicles to guide…
The prevalence of high-speed vehicle-to-everything (V2X) communication will likely significantly influence the future of vehicle autonomy. In several autonomous driving applications, however, the role such systems will play is seldom…
We study in this paper the behavior of a periodically driven nonlinear mechanical system. Bifurcation diagrams are found which locate regions of quasiperiodic, periodic and chaotic behavior within the parameter space of the system. We also…
Synchronization is a crucial phenomenon in many natural and artificial complex network systems. Applications include neuronal networks, formation control and coordination in robotics, and frequency synchronization in electrical power grids.…
This paper addresses the problem of composite synchronization and learning control in a network of multi-agent robotic manipulator systems with heterogeneous nonlinear uncertainties under a leader-follower framework. A novel two-layer…
In this paper, we develop a mechanical system inspired microscopic traffic model to characterize the longitudinal interaction dynamics among a chain of vehicles. In particular, we extend our prior work on mass-spring-damper-clutch based…
Most of the existing single object trackers track the target in a unitary local search window, making them particularly vulnerable to challenging factors such as heavy occlusions and out-of-view movements. Despite the attempts to further…
This paper presents a new approach to distributed controller design that exploits a partial-structure representation of linear time invariant systems to characterize the structure of a system. This partial-structure representation, called…