Related papers: Performance Analysis of Universal Robot Control Sy…
During visuomotor tasks, robots must compensate for temporal delays inherent in their sensorimotor processing systems. Delay compensation becomes crucial in a dynamic environment where the visual input is constantly changing, e.g., during…
In this paper, we study the distributed control of networked cyber-physical systems when a much more energy-efficient distributed communication management strategy is proposed to solve the well-studied consensus problem. In contrast to the…
This paper studies fundamental limitations of performance for distributed decision-making in robotic networks. The class of decision-making problems we consider encompasses a number of prototypical problems such as average-based consensus…
We investigate a networked control architecture for LTI plant models with a scalar input. Communication from controller to actuator is over an unreliable network which introduces packet dropouts. To achieve robustness against dropouts, we…
This paper considers cooperative control of robots involving two different testbed systems in remote locations with communication on the internet. This provides us the capability to exchange robots status like positions, velocities and…
This paper studies the stability and $\mathcal{H}_{\infty}$ performance analysis problem for linear networked and quantized control systems with both communication delays random packet losses. To deal with the network-induced uncertainties…
In this paper, we consider a nonlinear networked control system (NCS) in which controllers, sensors and actuators are connected via several communication links. In each link, networking effects such as the transmission delay, packet loss,…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
We present an algorithm for controlling and scheduling multiple linear time-invariant processes on a shared bandwidth limited communication network using adaptive sampling intervals. The controller is centralized and computes at every…
Network controllability robustness reflects how well a networked system can maintain its controllability against destructive attacks. Its measure is quantified by a sequence of values that record the remaining controllability of the network…
This paper deals with the localization problem of mobile robot subject to communication delay and packet loss. The delay and loss may appear in a random fashion in both control inputs and observation measurements. A unified state-space…
In tasks such as surveying or monitoring remote regions, an autonomous robot must move while transmitting data over a wireless network with unknown, position-dependent transmission rates. For such a robot, this paper considers the problem…
This paper studies the tracking control problem of nonlinear networked and quantized control systems (NQCSs) with communication delays. The desired trajectory is generated by a reference system. The communication network is to guarantee the…
This paper proposes an adaptive tracking control with prescribed performance function for distributive cooperative control of highly nonlinear multi-agent systems. The use of such approach confines the tracking error within a large…
Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…
Autonomous robots must utilize rich sensory data to make safe control decisions. To process this data, compute-constrained robots often require assistance from remote computation, or the cloud, that runs compute-intensive deep neural…
Computer network tends to be subjected to the proliferation of mobile demands and increasingly multifarious, therefore it poses a great challenge to guarantee the quality of network service. By designing the model according to different…
Recent advances in electronics are enabling substantial processing to be performed at each node (robots, sensors) of a networked system. Local processing enables data compression and may mitigate measurement noise, but it is still slower…
In this study, we use a wavelet neural network with a feedforward component and a model predictive controller for online nonlinear system identification over a communication network. The wavelet neural network (WNN) performs the online…
Today's networks are controlled assuming pre-compressed and packetized data. For video, this assumption of data packets abstracts out one of the key aspects - the lossy compression problem. Therefore, first, this paper develops a framework…