Related papers: 3D Directed Formation Control with Global Shape Co…
In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
We study formation control problems. Our approach is to let a group of systems maximize their pairwise distances whilst bringing them all to a given submanifold, determining the shape of the formation. The algorithm we propose allows to…
Non-rigid shape deformations pose significant challenges, and most existing methods struggle to handle partial deformations effectively. We propose to learn deformations at the point level, which allows for localized control of 3D surface…
This paper studies the problem of stabilizing a leader-follower formation specified by a set of bearing constraints and being disturbed by some unknown uniformly bounded disturbance{s}. A set of leaders are positioned at their desired…
Deformable object manipulation (DOM) with point clouds has great potential as non-rigid 3D shapes can be measured without detecting and tracking image features. However, robotic shape control of deformable objects with point clouds is…
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…
In affine formation control problems, the construction of the framework with universal rigidity and affine localizability is a critical prerequisite, but it has not yet been well addressed, especially when additional agents join the…
We present a novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…
This paper presents a distributed algorithm for controlling the deployment of a team of mobile agents in formations whose shapes can be characterized by a broad class of polygons, including regular ones, where each agent occupies a corner…
This paper addresses formation control of reduced attitudes in which a continuous control protocol is proposed for achieving and stabilizing all regular polyhedra (also known as Platonic solids) under a unified framework. The protocol…
In this paper, we present a novel and generic data-driven method to servo-control the 3-D shape of continuum and soft robots embedded with fiber Bragg grating (FBG) sensors. Developments of 3-D shape perception and control technologies are…
We introduce Structured 3D Features, a model based on a novel implicit 3D representation that pools pixel-aligned image features onto dense 3D points sampled from a parametric, statistical human mesh surface. The 3D points have associated…
Formation control is a key problem in the coordination of multiple agents. It arises new challenges to traditional formation control strategy when the communication among agents is affected by uncertainties. This paper considers the robust…
This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…
The continuum deformation leader-follower cooperative control strategy models vehicles in a multi-agent system as particles of a deformable body. A desired continuum deformation is defined based on leaders' trajectories and acquired by…
This letter studies the problem of cooperative nearest-neighbor control of multi-agent systems where each agent can only realize a finite set of control points. Under the assumption that the underlying graph representing the communication…
In this paper, we present a distributed optimal multiagent control scheme for quadrotor formation tracking under localization errors. Our control architecture is based on a leader-follower approach, where a single leader quadrotor tracks a…
We study the multi-agent formation control problem in a directed graph. The relative configurations are expressed by unit dual quaternions (UDQs). We call such a weighted directed graph a unit dual quaternion directed graph (UDQDG). We show…
In the field of 3D point cloud generation, numerous 3D generative models have demonstrated the ability to generate diverse and realistic 3D shapes. However, the majority of these approaches struggle to generate controllable 3D point cloud…
We propose a new procedure to guide training of a data-driven shape generative model using a structure-aware loss function. Complex 3D shapes often can be summarized using a coarsely defined structure which is consistent and robust across…