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Slithering, crawling, slipping, gliding are various modes of limbless locomotion that have been mimicked for micro-manipulation of soft, slender and sessile objects. A lesser known mode is rolling which involves periodic, asymmetric and…
Star-shaped Tilted Hexarotors are rapidly emerging for applications highly demanding in terms of robustness and maneuverability. To ensure improvement in such features, a careful selection of the tilt angles is mandatory. In this work, we…
We investigate the sliding of objects on an inclined granular surface close to the avalanche threshold. Our experiments show that the stability is driven by the surface deformations. Heavy objects generate footprint-like deformations which…
Autonomous vehicles (AVs) hold vast potential to enhance transportation systems by reducing congestion, improving safety, and lowering emissions. AV controls lead to emergent traffic phenomena; one such intriguing phenomenon is traffic…
Under extreme conditions, autonomous drifting enables vehicles to follow predefined paths at large slip angles, significantly enhancing the control system's capability to handle hazardous scenarios. Four-wheel-drive and four-wheel-steering…
Recent advances in vehicle connectivity have allowed formation of autonomous vehicle platoons for improved mobility and traffic throughput. In order to avoid a pile-up in such platoons, it is important to ensure platoon (string) stability,…
Microtearing modes (MTMs) are unstable in the shallow gradient region just inside the top of the pedestal in the spherical tokamak experiment MAST, and may play an important role in the pedestal evolution. The linear properties of these…
Most autonomous navigation systems assume wheeled robots are rigid bodies and their 2D planar workspaces can be divided into free spaces and obstacles. However, recent wheeled mobility research, showing that wheeled platforms have the…
In this article, we point out an interesting solution for the dynamics of a racecar in a banked circular track with banking angle well over 90o. We call this track configuration an Inverted Track, at which a racecar can drive partially…
Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomotion on rigid ground is challenging enough, yielding terrain…
Collaborative aerial transportation of tethered payloads is fundamentally limited by space, power, and weight constraints. Conventional approaches rely on static equilibrium conditions, where each vehicle tilts to generate the forces that…
This paper presents a control design with integral action for vehicle platoons with disturbance that ensures string stability of the closed loop and disturbance rejection. The addition of integral action and a coordinate change allows to…
This paper addresses the challenge of autonomous excavation of challenging terrains, in particular those that are prone to jamming and inter-particle adhesion when tackled by a standard penetrate-drag-scoop motion pattern. Inspired by human…
Understanding the dynamic behavior of tires and their interactions with road plays an important role in designing integrated vehicle control strategies. Accordingly, having access to reliable information about the tire-road interactions…
The presence of (partially) automated vehicles on the roads presents an opportunity to compensate the unstable behaviour of conventional vehicles. Vehicles subject to perturbations should (i) recover their equilibrium speed, (ii) react not…
We design a vehicle with a steering system made of two independently rotatable wheels on the front. We quantify the effectiveness of the steering system in the mobility and maneuverability of the vehicle running in a box containing a layer…
In this study, we analyze the stability of a path-tracking controller designed for a four-wheel steering vehicle, incorporating the effects of the reference path curvature. By employing a simplified kinematic model of the vehicle with…
Quadruped robots have shown remarkable mobility on various terrains through reinforcement learning. Yet, in the presence of sparse footholds and risky terrains such as stepping stones and balance beams, which require precise foot placement…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
In this paper, a new model for traffic on roads with multiple lanes is developed, where the vehicles do not adhere to a lane discipline. Assuming identical vehicles, the dynamics is split along two independent directions: the Y-axis…