Related papers: The collision avoidance and the controllability fo…
In this paper, we present a space-and-time-synchronized control method with application to the simultaneous tracking/formation. In the framework of polar coordinates, through correlating and decoupling the reference/actual kinematics…
We study the controlled dynamics of the {\it ensembles of points} of a Riemannian manifold $M$. Parameterized ensemble of points of $M$ is the image of a continuous map $\gamma:\Theta \to M$, where $\Theta$ is a compact set of parameters.…
We prove the exact controllability of linear KP-I equation if the control input is added on a vertical domain. More generally, we have obtained the least dispersion needed to insure observability for fractional linear KP I equation.
We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory…
We introduce a new quantum transport formalism based on a map of a real 3-dimensional lead-conductor-lead system into an effective 1-dimensional system. The resulting effective 1D theory is an in principle exact formalism to calculate the…
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…
The aim of this work is to consider the controllability problem of the linear system associated to Korteweg-de Vries Burgers equation posed in the whole real line. We obtain a sort of exact controllability for solutions in $L^2_{loc}(\R^2)$…
We prove global internal controllability in large time for the nonlinear Schr\"odinger equation on some compact manifolds of dimension 3. The result is proved under some geometrical assumptions : geometric control and unique continuation.…
The goal of this article is to present a local exact controllability result for the 2 and 3-dimensional compressible Navier-Stokes equations on a constant target trajectory when the controls act on the whole boundary. Our study is then…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
This paper considers collision avoidance for vehicles with first-order nonholonomic constraints maintaining nonzero forward speeds, moving within dynamic environments. We leverage the concept of control barrier functions (CBFs) to…
Forward complete systems are guaranteed to have solutions that exist globally for all positive time. In this paper, a relaxed Lyapunov-like condition for forward completeness is presented for finite-dimensional systems defined on open sets…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
This work presents a unified approach for collision avoidance using Collision-Cone Control Barrier Functions (CBFs) in both ground (UGV) and aerial (UAV) unmanned vehicles. We propose a novel CBF formulation inspired by collision cones, to…
We address the design of decentralized feedback control laws inducing consensus and prescribed spatial patterns over a singular interacting particle system of Cucker-Smale type. The control design consists of a feedback term regulating the…
This paper studies variational collision avoidance problems for multi-agents systems on complete Riemannian manifolds. That is, we minimize an energy functional, among a set of admissible curves, which depends on an artificial potential…
We consider both the internal and boundary controllability problems for wave equations under non-negativity constraints on the controls. First, we prove the steady state controllability property with nonnegative controls for a general class…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
In this paper, we study the indirect boundary stability and exact controllability of a one-dimensional Timoshenko system. In the first part of the paper, we consider the Timoshenko system with only one boundary fractional damping. We first…
This paper proposes a notion termed perturbation-tolerant structural controllability (PTSC) to study the generic property of controllability preservation/resilience of structured linear systems under structured perturbations. A structured…