Related papers: Designing robust trajectories by lobe dynamics in …
Trajectory optimization (TO) is one of the most powerful tools for generating feasible motions for humanoid robots. However, including uncertainties and stochasticity in the TO problem to generate robust motions can easily lead to an…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
We consider the problem of planning a collision-free path for a high-dimensional robot. Specifically, we suggest a planning framework where a motion-planning algorithm can obtain guidance from a user. In contrast to existing approaches that…
With the increasing integration of robots into human life, their role in architectural spaces where people spend most of their time has become more prominent. While motion capabilities and accurate localization for automated robots have…
Motion planning in the presence of multiple dynamic obstacles is an important research problem from the perspective of autonomous vehicles as well as space-constrained multi-robot work environment. In this paper, we address the motion…
We have found stable chaotic solutions for optomechanical systems coupled with a Two-Level System or qubit. In this system methods have been found which can be used to Tune in and out of Chaos as well as various n-period motions. This…
Presence of recurrent and statistically significant unstable periodic orbits (UPOs) in time series obtained from biological systems are now routinely used as evidence for low dimensional chaos . Extracting accurate dynamical information…
In hybrid force-velocity control, the robot can use velocity control in some directions to follow a trajectory, while performing force control in other directions to maintain contacts with the environment regardless of positional errors. We…
To perform tasks well in a new domain, one must first know something about it. This paper reports on a robot controller for navigation through unfamiliar indoor worlds. Based on spatial affordances, it integrates planning with reactive…
From the integer quantum Hall effect, to swimming at low Reynolds number, geometric phases arise in the description of many different physical systems. In many of these systems the temporal evolution prescribed by the geometric phase can be…
We consider piecewise-deterministic optimal control problems in which the environment randomly switches among several deterministic modes, and the goal is to optimize the expected cost up to the termination while taking the likelihood of…
We present a planning and control framework for physics-based manipulation under uncertainty. The key idea is to interleave robust open-loop execution with closed-loop control. We derive robustness metrics through contraction theory. We use…
The distinctive feature of a polynomial parametric speed let polynomial Pythagorean-hodograph (PH) curves be attractive for the design of accurate and efficient application algorithms. We propose a robust path following scheme for the…
In recent years, advancements have been made towards the goal of using chaotic coverage path planners for autonomous search and traversal of spaces with limited environmental cues. However, the state of this field is still in its infancy as…
The problem of orbital stabilization of underactuated mechanical systems with one passive degree-of-freedom (DOF) is revisited. Virtual holonomic constraints are enforced using a continuous controller; this results in a dense set of closed…
For a given a normally hyperbolic invariant manifold, whose stable and unstable manifolds intersect transversally, we consider several tools and techniques to detect trajectories with prescribed itineraries: the scattering map, the…
With the increasing scale of communication networks, the likelihood of failures grows as well. Since these networks form a critical backbone of our digital society, it is important that they rely on robust routing algorithms which ensure…
Noisy observations coupled with nonlinear dynamics pose one of the biggest challenges in robot motion planning. By decomposing nonlinear dynamics into a discrete set of local dynamics models, hybrid dynamics provide a natural way to model…
In the present study, we investigate the dynamics of impulsive differential equations driven by a chaotic system. We rigorously prove that, likewise the drive, the response impulsive system is also chaotic. Our results are based on the…