Related papers: Energy Tank-based Control Framework for Satisfying…
Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot…
The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. A first-order, data-driven, effort-based, thermal model of the robot's actuators is devised,…
Constraint-aware estimation of human intent is essential for robots to physically collaborate and interact with humans. Further, to achieve fluid collaboration in dynamic tasks intent estimation should be achieved in real-time. In this…
While social robots are developed to provide assistance to users through social interactions, their behaviors are dominantly pre-programmed and remote-controlled. Despite the numerous robot control architectures being developed, very few…
We present TACO, a toolsuite for the development and automatic verification of fault-tolerant and threshold-based distributed algorithms. Our toolsuite implements three approaches for model checking threshold automata in different decidable…
The deployment of Large Language Models (LLMs) in robotic systems presents unique safety challenges, particularly in unpredictable environments. Although LLMs, leveraging zero-shot learning, enhance human-robot interaction and…
Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller's feedback gains resulting in disturbance attenuation and other advantages.…
This work presents a fault-tolerant control scheme for sensory faults in robotic manipulators based on active inference. In the majority of existing schemes, a binary decision of whether a sensor is healthy (functional) or faulty is made…
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…
This paper proposes a framework to design an event-triggered based robust control law for linear uncertain system. The robust control law is realized through both static and dynamic event-triggering approach to reduce the computation and…
A variety of control tasks such as inverse kinematics (IK), trajectory optimization (TO), and model predictive control (MPC) are commonly formulated as energy minimization problems. Numerical solutions to such problems are well-established.…
This paper presents a strictly convex chance-constrained stochastic control framework that accounts for uncertainty in control specifications such as reference trajectories and operational constraints. By jointly optimizing control inputs…
Runtime energy management has become quintessential for multi-sensor autonomous systems at the edge for achieving high performance given the platform constraints. Typical for such systems, however, is to have their controllers designed with…
Recent successes in reinforcement learning have lead to the development of complex controllers for real-world robots. As these robots are deployed in safety-critical applications and interact with humans, it becomes critical to ensure…
Transient stability assessment of power systems needs to account for increased risk from uncertainties due to the integration of renewables and distributed generators. The uncertain operating condition of the power grid hinders reliable…
This paper addresses an Optimal Transport (OT)-based efficient multi-robot exploration problem, considering the energy constraints of a multi-robot system. The efficiency in this problem implies how a team of robots (agents) covers a given…
This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…
When a malfunction causes a control system to lose authority over a subset of its actuators, achieving a task may require spending additional energy in order to compensate for the effect of uncontrolled inputs. To understand this increase…
In this article we study the so-called water tank system. In this system, the behavior of water contained in a 1-D tank is modelled by Saint-Venant equations, with a scalar distributed control. It is well-known that the linearized systems…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…