Related papers: A Natural Indirect Adaptive Controller for a Satel…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
In this work we consider the problem of mobile robots that need to manipulate/transport an object via cables or robotic arms. We consider the scenario where the number of manipulating robots is redundant, i.e. a desired object configuration…
Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to observe the discrete high-level state of the task. This is…
This study presents an advanced approach to enhance robotic manipulation in uncertain and challenging environments, with a focus on autonomous operations augmented by human-in-the-loop (HITL) control for lunar missions. By integrating human…
This paper addresses the problem of satellite inspection, where one or more satellites (inspectors) are tasked with imaging or inspecting a resident space object (RSO) due to potential malfunctions or anomalies. Inspection strategies are…
When legged robots impact their environment executing dynamic motions, they undergo large changes in their velocities in a short amount of time. Measuring and applying feedback to these velocities is challenging, further complicated by…
Soft robotic manipulators provide numerous advantages over conventional rigid manipulators in fragile environments such as the marine environment. However, developing analytic inverse models necessary for shape, motion, and force control of…
Practical adaptive control implementations where human pilots coexist in the loop are still uncommon, despite their success in handling uncertain dynamical systems. This is owing to their special nonlinear characteristics which lead to…
Modern applications of robotics typically involve a robot control system with an inner PI (proportional-integral) or PID (proportional-integral-derivative) control loop and an outer user-specified control loop. The existing outer loop…
Path following and lateral stability are crucial issues for autonomous vehicles. Moreover, these problems increase in complexity when handling articulated heavy-duty vehicles due to their poor manoeuvrability, large sizes and mass…
This study focuses on attitude and control motion of two bodies (a base-satellite and a sub-satellite) connected by an inextensible and massless tether in a circular orbit under the influence of the Earths gravitational force. The…
This work studies how parametric uncertainties affect the cooperative manipulation of a cable-suspended beam-shaped load by means of two aerial robots not explicitly communicating with each other. In particular, the work sheds light on the…
This paper presents a new geometric adaptive control system with state inequality constraints for the attitude dynamics of a rigid body. The control system is designed such that the desired attitude is asymptotically stabilized, while the…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and,…
The equations governing motion of the satellite under the effect of oblateness of Earth and atmospheric drag have been simulated, for a fixed initial position and three different initial velocities, till satellite collapses on Earth.…
Maintaining safety under adaptation has long been considered to be an important capability for autonomous systems. As these systems estimate and change the ego-model of the system dynamics, questions regarding how to develop safety…
This paper discusses the design and the performance achievable with active aerodynamic attitude control in very low Earth orbit, i.e. below 450 km in altitude. A novel real-time algorithm is proposed for selecting the angles of deflection…
The robustness and accuracy of a vision system for motion estimation of a tumbling target satellite are enhanced by an adaptive Kalman filter. This allows a vision-guided robot to complete the grasping of the target even if occlusion occurs…
With the rapid development of Aerial Physical Interaction, the possibility to have aerial robots physically interacting with humans is attracting a growing interest. In one of our previous works, we considered one of the first systems in…