Related papers: The collision avoidance and the controllability fo…
This paper presents an original approach to vehicle obstacle avoidance. It involves the development of a nonlinear Model Predictive Contouring Control, which uses torque vectoring to stabilise and drive the vehicle in evasive manoeuvres at…
The effectiveness of collective navigation of biological or artificial agents requires to accommodate for contrasting requirements, such as staying in a group while avoiding close encounters and at the same time limiting the energy…
This paper is devoted to the study of the approximate controllability for a one-dimensional wave equation in domains with moving boundary. This equation models the motion of a string where an endpoint is fixed and the other one is moving.…
This paper proposes a Robust Safe Control Architecture (RSCA) for safe-decision making. The system to be controlled is a vehicle in the presence of bounded disturbances. The RSCA consists of two parts: a Supervisor MPC and a Controller MPC.…
We study the controllability of a closed control-affine quantum system driven by two or more external fields. We provide a sufficient condition for controllability in terms of existence of conical intersections between eigenvalues of the…
One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Although several…
Multiple multirotor Micro Aerial Vehicles sharing the same airspace require a reliable and robust collision avoidance technique. In this paper we address the problem of multi-MAV reactive collision avoidance. A model-based controller is…
This note deals with the local exact controllability to a particular class of trajectories for the Boussinesq system with nonlinear Navier-slip boundary conditions and internal controls having vanishing components. Briefly speaking, in two…
We consider a finite-dimensional model for the motion of microscopic organisms whose propulsion exploits the action of a layer of cilia covering its surface. The model couples Newton's laws driving the organism, considered as a rigid body,…
In this paper we propose a new observability property for nonautonomous linear control systems in finite dimension: the nonuniform complete observability, which is more general than the uniform complete observability. A dual relationship is…
We consider linear one-dimensional parabolic equations with space dependent coefficients that are only measurable and that may be degenerate or singular.Considering generalized Robin-Neumann boundary conditions at both extremities, we prove…
In this paper, we take a first step towards generalizing a recently proposed method for dealing with the problem of convergence to incorrect equilibrium points of distance-based formation controllers. Specifically, we introduce a distance…
In this work, we investigate the small-time global exact controllability of the Navier-Stokes equation, both towards the null equilibrium state and towards weak trajectories. We consider a viscous incompressible fluid evolving within a…
We prove controllability results for abstract systems of weakly coupled $N$ evolution equations in cascade by a reduced number of boundary or locally distributed controls ranging from a single up to $N-1$ controls. We give applications to…
Symmetric spaces arise in wide variety of problems in Mathematics and Physics. They are mostly studied in Representation theory, Harmonic analysis and Differential geometry. As many physical systems have symmetric spaces as their…
In this paper, we study the global approximate multiplicative controllability for nonlinear degenerate parabolic Cauchy-Neumann problems. First, we will obtain embedding results for weighted Sobolev spaces, that have proved decisive in…
Approximate controllability of the Euler equations is investigated by means of a finite set of actuators. It is proven that approximate controllability holds if we can find a saturating subset of actuators. The notion of saturating set is…
Given a finite-dimensional time continuous control system and $\varepsilon>0$, we address the question of the existence of controls that maintain the corresponding state trajectories in the $\varepsilon$-neighborhood of any prescribed path…
Safe obstacle avoidance and target set stabilization for nonlinear systems using reactive feedback control is under consideration. Based only on local information and by considering virtual dynamics, a safe path is generated online. The…
A path-following control algorithm enables a system's trajectories under its guidance to converge to and evolve along a given geometric desired path. There exist various such algorithms, but many of them can only guarantee local convergence…