Related papers: Advanced Feedback Linearization Control for Tiltro…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
Pivoting gait is efficient for manipulating a big and heavy object with relatively small manipulating force, in which a robot iteratively tilts the object, rotates it around the vertex, and then puts it down to the floor. However, pivoting…
The goal of robust motion planning consists of designing open-loop controls which optimally steer a system to a specific target region while mitigating uncertainties and disturbances which affect the dynamics. Recently, stochastic optimal…
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor set, where only one leader vehicle can access the global…
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…
We propose a novel approach for sampling-based and control-based motion planning that combines a representation of the environment obtained via a modified version of optimal Rapidly-exploring Random Trees (RRT*), with landmark-based…
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…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
Continuous-time control of multiple quadrotors in constrained environments under signal temporal logic (STL) specifications is critical due to their nonlinear dynamics, safety constraints, and the requirement to ensure continuous-time…
We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional sensor measurements (e.g., RGB-D images) and a learned…
Many of the existing works on quadrotor control address the trajectory tracking problem by employing a cascade design in which the translational and rotational dynamics are stabilized by two separate controllers. The stability of the…
This paper applies a recently developed geometric PID controller to stabilize a three-link planar bipedal hybrid dynamic walking model. The three links represent the robot torso and two kneeless legs, with an independent control torque…
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…
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…
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…
This paper presents the development of a comprehensive dynamics and stabilizing control architecture for Tethered Unmanned Aerial Vehicle (TUAV) systems. The proposed architecture integrates both onboard and ground-based controllers,…
This paper presents nonlinear tracking control systems for a quadrotor unmanned aerial vehicle under the influence of uncertainties. Assuming that there exist unstructured disturbances in the translational dynamics and the attitude…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
This paper investigated the distributed leader follower formation control problem for multiple differentially driven mobile robots. A distributed estimator is first introduced and it only requires the state information from each follower…