Related papers: Lateral Stability of Vehicle with Interlocking Spi…
Conventional mobile tensegrity robots constructed with straight links offer mobility at the cost of locomotion speed. While spherical robots provide highly effective rolling behavior, they often lack the stability required for navigating…
Generalizable manipulation requires that robots be able to interact with novel objects and environment. This requirement makes manipulation extremely challenging as a robot has to reason about complex frictional interaction with uncertainty…
Mixtures of near-symmetric oppositely charged components with strong attractive short range interactions exhibit ordered lamellar phases at low temperatures. In the strong segregation limit the state of these systems can be described by the…
Microtearing modes are an important drive of turbulent heat transport in present-day fusion plasmas. We investigate their linear stability under very-low collisionality regimes, expected for the next generations of devices, using…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
This paper studies the design of a Model Predictive Controller (MPC) for integrated lateral stability, traction/braking control, and rollover prevention of electric vehicles intended for very high speed (VHS) racing applications. We first…
Vehicle roll control has been a well studied problem. One of the ubiquitous methods to mitigate vehicle rollover in the automobile industry is via a mechanical anti-roll bar. However with the advent of electric vehicles, rollover mitigation…
We study the effect of viscoelastic dynamics on the frictional properties of a (mean field) spring-block system pulled on a rough surface by an external drive. When the drive moves at constant velocity V, two dynamical regimes are observed:…
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…
Portable ultra-stable lasers are essential for high-precision measurements. This study presents a 1550 nm vehicle-portable ultra-stable laser designed for continuous real-time operation on highways. We implement several measures to mitigate…
Quadrotors with the ability to perch on moving inclined surfaces can save energy and extend their travel distance by leveraging ground vehicles. Achieving dynamic perching places high demands on the performance of trajectory planning and…
In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…
During the last decade, tensegrity systems have been the focus of numerous investigations exploring the possibility of adopting them for planetary landing and exploration applications. Early approaches mainly focused on locomotion aspects…
Autonomous cars can reduce road traffic accidents and provide a safer mode of transport. However, key technical challenges, such as safe navigation in complex urban environments, need to be addressed before deploying these vehicles on the…
We present an approach for predictive braking of a four-wheeled vehicle on a nonplanar road. Our main contribution is a methodology to consider friction and road contact safety on general smooth road geometry. We use this to develop an…
The accurate characterization of tire dynamics is critical for advancing control strategies in autonomous road vehicles, as tire behavior significantly influences handling and stability through the generation of forces and moments at the…
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…
Nowadays, better driving also means better braking. To this end, vehicle designers must find all failures during the design phase of antilock braking systems which play an important role in automobiles safety. However, mechatronic systems…
This paper proposes an Adaptive Robust Model Predictive Control strategy for lateral control in lane keeping problems, where we continuously learn an unknown, but constant steering angle offset present in the steering system. Longitudinal…