Related papers: Neural Power-Optimal Magnetorquer Solution for Mul…
There are many industrial, commercial and social applications for multi-agent planning for multirotors such as autonomous agriculture, infrastructure inspection and search and rescue. Thus, improving on the state-of-the-art of multi-agent…
A global model is presented that can be used to study attitude maneuvers of a rigid spacecraft in a circular orbit about a large central body. The model includes gravity gradient effects that arise from the non-uniform gravity field and…
Spacecraft detumbling with magnetic torque coils is an inherently underactuated control problem. Contemporary and classical magnetorquer detumbling methods do not adequately consider this underactuation, and suffer from poor performance as…
We propose a new multirotor aerial vehicle class of designs composed of a multi-body structure in which a main body is connected by passive joints to links equipped with propellers. We have investigated some instances of such class, some of…
A perception-aware Nonlinear Model Predictive Control (NMPC) strategy aimed at performing vision-based target tracking and collision avoidance with a multi-rotor aerial vehicle is presented in this paper. The proposed control strategy…
It is doubtful that animals have perfect inverse models of their limbs (e.g., what muscle contraction must be applied to every joint to reach a particular location in space). However, in robot control, moving an arm's end-effector to a…
Optimally-shaped electromagnetic fields have the capacity to coherently control the dynamics of quantum systems and thus offer a promising means for controlling molecular transformations relevant to chemical, biological, and materials…
This paper addresses the optimal time-invariant formation tracking problem with the aim of providing a distributed solution for multi-agent systems with second-order integrator dynamics. In the literature, most of the results related to…
Autonomy is a key challenge for future space exploration endeavours. Deep Reinforcement Learning holds the promises for developing agents able to learn complex behaviours simply by interacting with their environment. This paper investigates…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
The coil in transcranial magnetic stimulation (TMS) determines the spatial shape of the electromagnetic field in the head, which structures are concurrently activated, and how focal stimulation is. Most of the readily available coils have…
Electromagnetic navigation systems (eMNS) enable a number of magnetically guided surgical procedures. A challenge in magnetically manipulating surgical tools is that the effective workspace of an eMNS is often severely constrained by power…
We extend a theorem of Bloch, which concerns the net orbital current carried by an interacting electron system in equilibrium, to include mesoscopic effects. We obtain a rigorous upper bound to the allowed ground-state current in a ring or…
This article presents a feedback control algorithm for electromagnetic formation flying with constraints on the satellites' states and control inputs. The algorithm combines several key techniques. First, we use alternating magnetic field…
This paper discusses an approach to inertial parameter estimation for the case of cargo carrying spacecraft that is based on causal learning, i.e. learning from the responses of the spacecraft, under actuation. Different spacecraft…
This paper presents an integrated path planning and tracking control of marine hydrokinetic energy harvesting devices. To address the highly nonlinear and uncertain oceanic environment, the path planner is designed based on a reinforcement…
Neural operator methods have emerged as powerful tools for learning mappings between infinite-dimensional function spaces, yet their potential in optimal control remains largely unexplored. We focus on multi-task control problems, whose…
We investigate the optimal charging processes for several models of quantum batteries, finding how to maximize the energy stored in a given battery with a finite-time modulation of a set of external fields. We approach the problem using…
This paper presents a static-equilibrium oriented interaction force modeling and control approach of aerial manipulation employing uni-directional thrust (UDT) multirotors interacting with variously defined environments. First, a simplified…
Nuclear fusion using magnetic confinement holds promise as a viable method for sustainable energy. However, most fusion devices have been experimental and as we move towards energy reactors, we are entering into a new paradigm of…