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In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
In this paper, we investigate the synthesis of piecewise affine feedback controllers to address the problem of safe and robust controller design in robotics based on high-level controls specifications. The methodology is based on…
In this paper, an adaptive super-twisting controller is designed for an agile maneuvering quadrotor unmanned aerial vehicle to achieve accurate trajectory tracking in the presence of external disturbances. A cascaded control architecture is…
Navigating our physical environment requires changing directions and turning. Despite its ecological importance, we do not have a unified theoretical account of non-straight-line human movement. Here, we present a unified optimality…
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…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a polygon and an ellipse, and employ it to construct a control…
Modern agriculture faces escalating challenges: increasing demand for food, labor shortages, and the urgent need to reduce environmental impact. Agricultural robotics has emerged as a promising response to these pressures, enabling the…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…
Omni-directional mobile robot (OMR) systems have been very popular in academia and industry for their superb maneuverability and flexibility. Yet their potential has not been fully exploited, where the extra degree of freedom in OMR can…
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…
This paper presents two control algorithms enabling a UAV to circumnavigate an unknown target using range and range rate (i.e., the derivative of range) measurements. Given a prescribed orbit radius, both control algorithms (i) tend to…
This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied…
A mobility mechanism for robots to be used in tight spaces shared with people requires it to have a small footprint, to move omnidirectionally, as well as to be highly maneuverable. However, currently there exist few such mobility…
This paper presents an experimental study of a path-tracking framework for autonomous vehicles in which the lateral control command is applied to a dynamic control point along the wheelbase. Instead of enforcing a fixed reference at either…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
A single nonholonomic under-actuated mobile robot with a bounded control range travels in a 3D workspace. This workspace also hosts a compact unknown domain with a smooth boundary. The robot has access to the horizontal distance to this…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated…
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the robot without interfering with the target direction and speed…