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We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
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…
This work aims to describe a mathematical model and a numerical method to simulate a thin anisotropic composite membrane moving and deforming in 3D space under a dynamic load of an arbitrary time and space profile. The model and the method…
We introduce a large-scale robotic system designed as a lightweight, modular, and reconfigurable structure for lunar applications. The system consists of truss-like robotic triangles formed by continuous inflated fabric tubes routed through…
A new framework is developed for control of constrained nonlinear systems with structured parametric uncertainties. Forward invariance of a safe set is achieved through online parameter adaptation and data-driven model estimation. The new…
In this paper, negatively inclined buoyant jets, which appear during the discharge of wastewater from processes such as desalination, are observed. To minimize harmful effects and assess environmental impact, a detailed numerical…
Achieving human-like dexterity is a longstanding challenge in robotics, in part due to the complexity of planning and control for contact-rich systems. In reinforcement learning (RL), one popular approach has been to use…
This paper introduces a novel control strategy for agile spacecraft attitude control, addressing reaction wheel-related input and state constraints. An optimal-decay control Lyapunov function quadratic program stabilizes the system and…
Precise patient positioning is fundamental to successful removal of malignant tumors during treatment of head and neck cancers. Errors in patient positioning have been known to damage critical organs and cause complications. To better…
Exploring spatial-temporal dependencies from observed motions is one of the core challenges of human motion prediction. Previous methods mainly focus on dedicated network structures to model the spatial and temporal dependencies. This paper…
Exploration of asteroids and small-bodies can provide valuable insight into the origins of the solar system, into the origins of Earth and the origins of the building blocks of life. However, the low-gravity and unknown surface conditions…
Optimal transport (OT) is a central framework for modeling distribution shifts. Because OT compares distributions directly in input space, a well-designed ground metric between observations is essential to ensure that the optimizer does not…
This paper presents reinforcement learning (RL) policies for dynamic quadrupedal locomotion in planetary exploration scenarios. Building on a taskoptimized quadruped with a 5-bar leg design, we develop RL policies for walking, vertical…
Modular Aerial Robotic Systems (MARS) consist of multiple drone units assembled into a single, integrated rigid flying platform. With inherent redundancy, MARS can self-reconfigure into different configurations to mitigate rotor or unit…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
This work presents a two part framework for online planning and execution of dynamic aerial motions on a quadruped robot. Motions are planned via a centroidal momentum-based nonlinear optimization that is general enough to produce rich sets…
Parallel robots are capable of high-speed manipulation and have become essential tools in the industry. The proximal placement of their motors and the low weight of their end effectors make them ideal for generating highly dynamic motion.…
Sloshing Platform for In-Orbit Controller Experimentation is an ambitious, student run mission to design and fly a cubesat to study fluid sloshing in spacecraft. The project will examine zero-g propellant sloshing from an experimental…
This paper presents a novel adaptive fast smooth second-order sliding mode control for the attitude tracking of the three degree-of-freedom (3-DOF) helicopter system with lumped disturbances. Combining with a non-singular integral sliding…
Multilinked aerial robot is one of the state-of-the-art works in aerial robotics, which demonstrates the deformability benefiting both maneuvering and manipulation. However, the performance in outdoor physical world has not yet been…