Related papers: Morphology and Behavior Co-Optimization of Modular…
All cognitive agents are composite beings. Specifically, complex living agents consist of cells, which are themselves competent sub-agents navigating physiological and metabolic spaces. Behavior science, evolutionary developmental biology,…
Modular robots offer reconfigurability and fault tolerance essential for lunar missions, but require controllers that adapt safely to real-world disturbances. We build on our previous hardware-agnostic actuator synchronization in Motion…
Complex non-local behavior makes designing high efficiency and multifunctional metasurfaces a significant challenge. While using libraries of meta-atoms provide a simple and fast implementation methodology, pillar to pillar interaction…
Humanoid robots, as general-purpose physical agents, must integrate both intelligent control and adaptive morphology to operate effectively in diverse real-world environments. While recent research has focused primarily on optimizing…
While the field of multi-modal learning keeps growing fast, the deficiency of the standard joint training paradigm has become clear through recent studies. They attribute the sub-optimal performance of the jointly trained model to the…
This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…
Attitude estimation using scalar measurements, corresponding to partial vectorial observations, arises naturally when inertial vectors are not fully observed but only measured along specific body-frame vectors. Such measurements arise in…
Modeling and control of nonlinear dynamics are critical in robotics, especially in scenarios with unpredictable external influences and complex dynamics. Traditional cascaded modular control pipelines often yield suboptimal performance due…
In modular robotics, modules can be reconfigured to change the morphology of the robot, making it able to adapt for specific tasks. However, optimizing both the body and control is a difficult challenge due to the intricate relationship…
We explore task tolerances, i.e., allowable position or rotation inaccuracy, as an important resource to facilitate smooth and effective telemanipulation. Task tolerances provide a robot flexibility to generate smooth and feasible motions;…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
This work presents a novel adaptive framework for simultaneously estimating spacecraft attitude and sensor misalignment. Uncorrected star tracker misalignment can introduce significant pointing errors that compromise mission objectives in…
This paper deals with the problem of angle-of-attack modulation with the aim of enhancing transient performance of entry guidance during bank reversals, while compensating adverse effects of fast time-varying transient disturbances. An…
This paper presents a machine learning approach for tuning the parameters of a family of stabilizing controllers for orbital tracking. An augmented random search algorithm is deployed, which aims at minimizing a cost function combining…
The growing density of satellites in low-Earth orbit (LEO) presents serious challenges to space sustainability, primarily due to the increased risk of in-orbit collisions. Traditional ground-based tracking systems are constrained by latency…
The advantage of modular self-reconfigurable robot systems is their flexibility, but this advantage can only be realized if appropriate configurations (shapes) and behaviors (controlling programs) can be selected for a given task. In this…
Soft robots have gained significant attention due to their flexibility and safety, particularly in human-centric applications. The co-design of structure and controller in soft robotics has presented a longstanding challenge owing to the…
In this paper, a robust control solution for a satellite equipped with a robotic manipulator is presented. First, the dynamic model of the system is derived based on quaternions to describe the evolution of the attitude of the base…
Exploring planetary bodies with lower gravity, such as the moon and Mars, allows legged robots to utilize jumping as an efficient form of locomotion thus giving them a valuable advantage over traditional rovers for exploration. Motivated by…
This article solves an optimal control problem arising in attitude control of a spacecraft under state and control constraints. We first derive the discrete-time attitude dynamics by employing discrete mechanics. The orientation transfer,…