Related papers: Analytic Solutions for Wheeled Mobile Manipulator …
Recently, the utilization of aerial manipulators for performing pushing tasks in non-destructive testing (NDT) applications has seen significant growth. Such operations entail physical interactions between the aerial robotic system and the…
Flow forming involves complicated tooling/workpiece interactions. Purely analytical models of the tool contact area are difficult to formulate, resulting in numerical approaches that are case-specific. Provided are the details of an…
Motion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model…
This paper presents a new adaptive sliding mode control (SMC) framework for quadrotors that achieves robust and agile flight under tight computational constraints. The proposed controller addresses key limitations of prior SMC formulations,…
The focus of this paper is an integrated, fault-tolerant vehicle supervisory control algorithm for the overall stability of ground vehicles. Vehicle control systems contain many sensors and actuators that can communicate with each other…
The simple realistic model of the tippe top is considered. An averaged system of equations of motion is obtained in special evolutionary variables. Through the qualitative analysis of this system the general features of the motion of the…
Autonomous Vehicle decisions rely on multimodal prediction models that account for multiple route options and the inherent uncertainty in human behavior. However, models can suffer from mode collapse, where only the most likely mode is…
We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic transform between a fixed vision sensor mounted on a mobile…
Wheeled bipedal robots are emerging as flexible platforms for field exploration. However, head instability induced by uneven terrain can degrade the accuracy of onboard sensors or damage fragile payloads. Existing research primarily focuses…
This work proposes a sliding mode control barrier function to robustly deal with high relative-degree safety constraints in safety-critical control systems. Stability/tracking objectives, expressed as a nominal control law, and safety…
Road traffic crashes have been the leading cause of death among young people. Most of these accidents occur when the driver becomes distracted and a loss-of-control situation occurs. Steer-by-Wire systems were recently proposed as an…
With the advent of intelligent transport, quadrotors are becoming an attractive solution while lifting or dropping payloads during emergency evacuations, construction works, etc. During such operations, dynamic variations in (possibly…
The behaviour of a space-modulated, so-called "argumental" oscillator is studied, which is represented by a model having an even-parity space-modulating function. Analytic expressions of a stability criterion and of discrete energy levels…
Dynamical stability is a prerequisite for control and functioning of desired nano-machines. We utilize the Caldeira-Leggett master equation to investigate dynamical stability of molecular cogwheels modeled as a rigid, propeller-shaped…
In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-level control schemes. However, additionally integrating…
This paper presents a novel type of mobile rolling robot designed as a modular platform for non-prehensile manipulation, highlighting the associated control challenges in achieving balancing control of the robotic system. The developed…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
The four-roll mill, wherein four identical cylinders undergo rotation of identical magnitude but alternate signs, was originally proposed by GI Taylor to create local extensional flows and study their ability to deform small liquid drops.…
Humans use tools to complete impact-aware tasks such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding…
Level 3+ automated driving implies highest safety demands for the entire vehicle automation functionality. For the part of trajectory tracking, functional redundancies among all available actuators provide an opportunity to reduce safety…