Related papers: Consensus Complementarity Control for Multi-Contac…
The confluence of the advancement of Autonomous Vehicles (AVs) and the maturity of Vehicle-to-Everything (V2X) communication has enabled the capability of cooperative connected and automated vehicles (CAVs). Building on top of cooperative…
Multi-robot coordination is fundamental to various applications, including autonomous exploration, search and rescue, and cooperative transportation. This paper presents an optimal consensus framework for multi-robot systems (MRSs) that…
With the widespread application of industrial robots, the problem of absolute positioning accuracy becomes increasingly prominent. To ensure the working state of the robots, researchers commonly adopt calibration techniques to improve its…
In this work, an advanced motion controller is proposed for buck converter-fed DC motor systems. The design is based on an idea of active disturbance rejection control (ADRC) with its key component being a custom observer capable of…
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
The distributed optimal output consensus problem for high-order multi-agent systems has been studied recently. In this paper, we further focus on the same problem for high-order multi-agent systems subject to parametric uncertainties and…
This paper presents a robust neural control design for a three-drone slung payload transportation system to track a reference path under external disturbances. The control contraction metric (CCM) is used to generate a neural exponentially…
Model Predictive Control (MPC) has shown to be a successful method for many applications that require control. Especially in the presence of prediction uncertainty, various types of MPC offer robust or efficient control system behavior. For…
Trajectory-controlled human motion generation aims to synthesize realistic human motions conditioned on both textual descriptions and spatial trajectories. However, existing methods suffer from two critical limitations: first, the conflict…
Hybrid model predictive control with both continuous and discrete variables is widely applicable to robotic control tasks, especially those involving contacts with the environment. Due to combinatorial complexity, the solving speed of…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
We introduce a dynamic model for complexity control (CC) between systems, represented by time series characterized by different temporal complexity measures, as indicated by their respective inverse power law (IPL) indices. Given the…
Bipartite matching systems arise in many settings where agents or tasks from two distinct sets must be paired dynamically under compatibility constraints. We consider a high-dimensional bipartite matching system under uncertainty and seek…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
In this paper, we propose a novel distributed algorithm for consensus optimization over networks and a robust extension tailored to deal with asynchronous agents and packet losses. Indeed, to robustly achieve dynamic consensus on the…
Connected and automated vehicles (CAVs) offer huge potential to improve the performance of automated vehicles (AVs) without communication capabilities, especially in situations when the vehicles (or agents) need to be cooperative to…
This paper addresses the distributed prescribed-time leader-following consensus problem for a class of high-order multi-agent systems (MASs) with perturbed nonlinear agents dynamics and where the topology of the network contains a directed…
In this paper, the optimal consensus problem for general nonlinear multi-agent systems is studied, where both leaderless and leader-follower cases are considered in a unified framework. The key idea is to convert consensus problems into…
Facing the congestion challenges of mixed road networks comprising expressways and arterial road networks, traditional control solutions fall short. To effectively alleviate traffic congestion in mixed road networks, it is crucial to clear…