Related papers: Range-Only Dynamic Output Feedback Controller for …
In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
Safe and smooth motion control is essential for mobile robots when performing various automation tasks around obstacles, especially in the presence of people and other mobile robots. The total turning and space used by a mobile robot while…
In many real-world reinforcement learning (RL) problems, besides optimizing the main objective function, an agent must concurrently avoid violating a number of constraints. In particular, besides optimizing performance it is crucial to…
In this work, we introduce a novel data-driven model-reference control design approach for unknown linear systems with fully measurable state. The proposed control action is composed by a static feedback term and a reference tracking block,…
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space with a single spherical obstacle. The robot moves straight…
Real-world control applications in complex and uncertain environments require adaptability to handle model uncertainties and robustness against disturbances. This paper presents an online, output-feedback, critic-only, model-based…
This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…
In this paper, we address the problem of enclosing an arbitrarily moving target in three dimensions by a single pursuer while ensuring the pursuer's safety by preventing collisions with the target. The proposed guidance strategy steers the…
The feedback linearization method is further developed for the controller design on general nonlinear systems. Through the Lyapunov stability theory, the intractable nonlinear implicit algebraic control equations are effectively solved, and…
In this paper, we focus on the problem about direct way to design a stable controller for nonlinear system. A framework of learning controller with Lyapunov-based constraint is proposed, which is intended to transform designing and analyis…
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…
In this study, we propose a safety-critical compliant control strategy designed to strictly enforce interaction force constraints during the physical interaction of robots with unknown environments. The interaction force constraint is…
This paper proposes a unified control framework based on Response-Aware Risk-Constrained Control Barrier Function for dynamic safety boundary control of vehicles. Addressing the problem of physical model parameter mismatch, the framework…
We consider the problem of bearing-based visual homing: Given a mobile robot which can measure bearing directions with respect to known landmarks, the goal is to guide the robot toward a desired "home" location. We propose a control law…
Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…
This paper addresses the autonomous robot navigation problem in a priori unknown n-dimensional environments containing disjoint convex obstacles of arbitrary shapes and sizes, with pairwise distances strictly greater than the robot's…
Model-free Deep Reinforcement Learning (DRL) controllers have demonstrated promising results on various challenging non-linear control tasks. While a model-free DRL algorithm can solve unknown dynamics and high-dimensional problems, it…
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…