Related papers: Motion Control of Two Mobile Robots under Allowabl…

This paper proposes a control solution to achieve collision-free platooning control of input-constrained mobile robots. The platooning policy is based on a leader-follower approach where the leader tracks a reference trajectory while…

We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is…

Human body motions can be captured as a high-dimensional continuous signal using motion sensor technologies. The resulting data can be surprisingly rich in information, even when captured from persons with limited mobility. In this work, we…

This chapter is about the fundamentals of fabrication, control, and human-robot interaction of a new type of collaborative robotic manipulators, called malleable robots, which are based on adjustable architectures of varying stiffness for…

Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…

In unstructured environments, robots run the risk of unexpected collisions. How well they react to these events is determined by how transparent they are to collisions. Transparency is affected by structural properties as well as sensing…

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…

As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…

For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…

This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…

This paper describes a framework for multi-robot coordination and motion planning with emphasis on inter-agent interactions. We focus on the characterization of inter-agent interactions with sufficient level of abstraction so as to allow…

As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…

The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact…

We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…

Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system. The sensorimotor control of legged robots is implemented with much higher frequencies-often in the kilohertz range-and sensor and actuator…

In this paper, we propose an approach how connected and highly automated vehicles can perform cooperative maneuvers such as lane changes and left-turns at urban intersections where they have to deal with human-operated vehicles and…

Interactions between pedestrians, bikers, and human-driven vehicles have been a major concern in traffic safety over the years. The upcoming age of autonomous vehicles will further raise major problems on whether self-driving cars can…

Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…

In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals -- motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be…

In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A…