Related papers: Passivity-based Decentralized Control for Collabor…
In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…
Although, in the task of grasping via a data-driven method, closed-loop feedback and predicting 6 degrees of freedom (DoF) grasp rather than conventionally used 4DoF top-down grasp are demonstrated to improve performance individually, few…
This work employs an unmanned aerial vehicle (UAV) as a jammer to aid a covert communication from a transmitter Alice to a receiver Bob, where the UAV transmits artificial noise (AN) with random power to deliberately create interference to…
Non-prehensile manipulation enables fast interactions with objects by circumventing the need to grasp and ungrasp as well as handling objects that cannot be grasped through force closure. Current approaches to non-prehensile manipulation…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
Monitoring human activity in indoor environments is important for applications such as facility management, safety assessment, and space utilization analysis. While mobile robot teams offer the potential to actively improve observation…
This paper proposes a novel wide-area control strategy for modulating the active power injections to damp the critical frequency oscillations in power systems, this includes the inter-area oscillations and the transient frequency swing. The…
Agile earth observation satellites employ multiple actuators to enable flexible and responsive imaging capabilities. While significant advancements in actuator technology have enhanced satellites' torque and momentum, relatively little…
Shared autonomy allows for combining the global planning capabilities of a human operator with the strengths of a robot such as repeatability and accurate control. In a real-time teleoperation setting, one possibility for shared autonomy is…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
This paper investigates the problem of the dynamic balance control of multi-arm free-floating space robot during capturing an active object in close proximity. The position and orientation of space base will be affected during the operation…
Soft grippers, with their inherent compliance and adaptability, show advantages for delicate and versatile manipulation tasks in robotics. This paper presents a novel approach to underactuated control of multiple soft actuators, explicitly…
Many tasks in human environments require collaborative behavior between multiple kinematic chains, either to provide additional support for carrying big and bulky objects or to enable the dexterity that is required for in-hand manipulation.…
As power systems become more and more interconnected, the inter-area oscillations has become a serious factor limiting large power transfer among different areas. Underdamped (Undamped) inter-area oscillations may cause system breakup and…
Improved additive manufacturing capabilities are vital for the future development and improvement of ubiquitous robotic systems. These machines can be integrated into existing robotic systems to allow manufacturing and repair of components,…
Catching fast-moving objects serves as a benchmark for robotic agility, posing significant coordination challenges for cooperative manipulator systems holding a catcher, particularly due to inherent closed-chain constraints. This paper…
In this paper, we present an approach for controlling a team of agile fixed-wing aerial vehicles in close proximity to one another. Our approach relies on receding-horizon nonlinear model predictive control (NMPC) to plan maneuvers across…
Quasi-static models of robotic motion with frictional contact provide a computationally efficient framework for analysis and have been widely used for planning and control of non-prehensile manipulation. In this work, we present a novel…
With the proliferation of wideband active services in bands shared with passive receivers for remote sensing and radio astronomy, new methods are needed for deconflicting active and passive users. We have developed a technique for…