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We present three dynamic error feedback controllers for robust output regulation of regular linear systems. These controllers are (i) a minimal order robust controller for exponentially stable systems (ii) an observer-based robust…
We introduce a novel concept for motion robust optical 3D-sensing. The concept is based on multi-line triangulation. The aim is to evaluate a large number of projected lines (high data density) in a large measurement volume with high…
Multi-axle Swerve-drive Autonomous Mobile Robots (MS-AGVs) equipped with independently steerable wheels are commonly used for high-payload transportation. In this work, we present a novel model predictive control (MPC) method for MS-AGV…
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks the assumptions of these models can become limiting. For…
With advancing technologies, robotic manipulators and visual environment sensors are becoming cheaper and more widespread. However, robot control can be still a limiting factor for better adaptation of these technologies. Robotic…
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced. The approach is twofold: (i) we apply our technique…
We propose a model-based approach to design feedback policies for dexterous robotic manipulation. The manipulation problem is formulated as reaching the target region from an initial state for some non-smooth nonlinear system. First, we use…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…
A robust estimation of road course and traffic lanes is an essential part of environment perception for next generations of Advanced Driver Assistance Systems and development of self-driving vehicles. In this paper, a flexible method for…
Accurate system identification is crucial for reducing trajectory drift in bipedal locomotion, particularly in reinforcement learning and model-based control. In this paper, we present a novel control framework that integrates system…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
Tracking multiple targets in dynamic environments using distributed sensor networks is a fundamental problem in statistical signal processing. In such scenarios, the network of mobile sensors must coordinate their actions to accurately…
This work presents a real-time autonomous track navigation framework for nonholonomic differential-drive mobile robots by jointly integrating multi-task visual perception and a provably stable tracking controller. The perception pipeline…
Direct torque control is considered as one of the most efficient techniques for speed and/or position tracking control of induction motor drives. However, this control scheme has several drawbacks: the switching frequency may exceed the…
Free space optical communication has been applied in many scenarios because of its security, low cost and high rates. In such scenarios, a tracking system is necessary to ensure an acceptable signal power. Free space optical links were…
Accurate calibration of sensor extrinsic parameters for ground robotic systems (i.e., relative poses) is crucial for ensuring spatial alignment and achieving high-performance perception. However, existing calibration methods typically…
Robots are increasingly being deployed in agriculture to support sustainable practices and improve productivity. They offer strong potential to enable precise, efficient, and environmentally friendly operations. However, most existing…
Autonomous mobile manipulation robots that can collect trolleys are widely used to liberate human resources and fight epidemics. Most prior robotic trolley collection solutions only detect trolleys with 2D poses or are merely based on…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Robots and automated systems are increasingly being introduced to unknown and dynamic environments where they are required to handle disturbances, unmodeled dynamics, and parametric uncertainties. Robust and adaptive control strategies are…