Related papers: The collision avoidance and the controllability fo…
This paper is devoted to prove the local exact controllability to the trajectories for a coupled system, of the Boussinesq kind, with a reduced number of controls. In the state system, the unknowns are the velocity field and pressure of the…
This paper presents a three dimensional collision avoidance approach for aerial vehicles inspired by coordinated behaviors in biological groups. The proposed strategy aims to enable a group of vehicles to converge to a common destination…
In this paper, we discuss our recent works on the null-controllability, the exact controllability, and the stabilization of linear hyperbolic systems in one dimensional space using boundary controls on one side for the optimal time. Under…
Collision-free motion is a fundamental requirement for many autonomous systems. This paper develops a safety-critical control approach for the collision-free navigation of polytope-shaped agents in polytope-shaped environments. A systematic…
This paper deals with the exact controllability to the trajectories of the one--phase Stefan problem in one spatial dimension. This is a free-boundary problem that models solidification and melting processes. It is assumed that the physical…
This paper addresses the problem of distance- and orientation-based formation control of a class of second-order nonlinear multi-agent systems in 3D space, under static and undirected communication topologies. More specifically, we design a…
We investigate the universality of multi-spin systems in architectures of various symmetries of coupling type and topology. Explicit reachability sets under symmetry constraints are provided. Thus for a given (possibly symmetric)…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by $N$ robotic agents. In particular, we propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to…
This paper deals with the impulsive formation control of spacecraft in the presence of constraints on the position vector and time. Determining a set of path constraints can increase the safety and reliability in an impulsive relative…
The general theory on exact boundary controllability for general first order quasilinear hyperbolic systems requires that the characteristic speeds of system do not vanish. This paper deals with exact boundary controllability, when this is…
We study controllability issues for the Navier-Stokes Equation on a two dimensional rectangle with so-called Lions boundary conditions. Rewriting the Equation using a basis of harmonic functions we arrive to an infinite-dimensional system…
The chaos control problem of continuous time Rabinovich chaotic system is addressed. An instantaneous control input has been designed using predictive control principle to guarantee the convergence of the chaotic trajectory towards an…
This note proposes a general control approach, called vector-field guided constraint-following control, to solve the dynamics control problem of geometric path-following for a class of uncertain mechanical systems. More specifically, it…
We present the design and validation of a centralized controller, called a supervisor, for collision avoidance of multiple human-driven vehicles at a road intersection, considering measurement errors, unmodeled dynamics, and uncontrolled…
Here we present an expanded analysis of a model for the manipulation and control of observables in a strongly correlated, many-body system, which was first presented in [McCaul et al., eprint: arXiv:1911.05006]. A field-free, non-linear…
The aim of this work is to show the local null controllability of a fluid-solid interaction system by using a distributed control located in the fluid. The fluid is modeled by the incompressible Navier-Stokes system with Navier slip…
In this paper, we study the controllability of the two-dimensional relativistic Vlasov-Maxwell system in a torus, by means of an interior control. We give two types of results. With the geometric control condition on the control set, we…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
This work presents a novel framework for the formation control of multiple autonomous ground vehicles in an on-road environment. Unique challenges of this problem lie in 1) the design of collision avoidance strategies with obstacles and…
Avoiding collisions between obstacles and vehicles such as cars, robots or aircraft is essential to the development of automation and autonomy. To simplify the problem, many collision avoidance algorithms and proofs consider vehicles to be…