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Autonomous Micro Aerial Vehicles (MAVs) such as quadrotors equipped with manipulation mechanisms have the potential to assist humans in tasks such as construction and package delivery. Cables are a promising option for manipulation…
This work proposes a receding horizon coverage control approach which allows multiple autonomous aerial agents to work cooperatively in order cover the total surface area of a 3D object of interest. The cooperative coverage problem which is…
The paper considers autonomous rendezvous maneuver and proximity operations of two spacecraft in presence of obstacles. A strategy that combines guidance and control algorithms is analyzed. The proposed closed-loop system is able to…
The paper develops a Model Predictive Controller for constrained control of spacecraft attitude with reaction wheel actuators. The controller exploits a special formulation of the cost with the reference governor like term, a low complexity…
This paper presents a stochastic/robust nonlinear model predictive control (NMPC) to enhance the robustness of model-based legged locomotion against contact uncertainties. We integrate the contact uncertainties into the covariance…
This paper proposes a distributed model predicted control (DMPC) approach for consensus control of multi-agent systems (MASs) with linear agent dynamics and bounded control input constraints. Within the proposed DMPC framework, each agent…
This paper presents an online smooth-path lane-change control framework. We focus on dense traffic where inter-vehicle space gaps are narrow, and cooperation with surrounding drivers is essential to achieve the lane-change maneuver. We…
This paper presents a safety-critical centralized nonlinear model predictive control (NMPC) framework for cooperative payload transportation by two quadrupedal robots. The interconnected robot-payload system is modeled as a discrete-time…
This paper proposes an adaptive tube-based nonlinear model predictive control (AT-NMPC) approach to the design of autonomous cruise control (ACC) systems. The proposed method utilizes two separate models to define the constrained receding…
We consider the problem of simultaneous control and parameter estimation when the model is available only as a differentiable physics simulator. We propose a receding-horizon control framework in which a model predictive control (MPC)…
This paper studies the collision avoidance problem for autonomous multiple fixedwing UAVs in the complex integrated airspace. By studying and combining the online path planning method, the distributed model predictive control algorithm, and…
Catching fast-moving objects serves as a benchmark for robotic agility, posing significant coordination challenges for cooperative manipulator systems holding a catcher, particularly due to inherent closed-chain constraints. This paper…
Human beings can utilize multiple balance strategies, e.g. step location adjustment and angular momentum adaptation, to maintain balance when walking under dynamic disturbances. In this work, we propose a novel Nonlinear Model Predictive…
Modern unmanned systems, including aerial, terrestrial, and underwater vehicles, are increasingly utilized in dynamic and unpredictable environments, where the presence of modeling uncertainties necessitates the development of robust and…
Motion Cueing Algorithms (MCAs) encode the movement of simulated vehicles into movement that can be reproduced with a motion simulator to provide a realistic driving experience within the capabilities of the machine. This paper introduces a…
We present Contingency Model Predictive Control (CMPC), a motion planning and control framework that optimizes performance objectives while simultaneously maintaining a contingency plan -- an alternate trajectory that avoids a potential…
A computationally efficient nonlinear Model Predictive Control (NMPC) algorithm is proposed for safe learning-based control with a system model represented by an incompletely known affine combination of basis functions and subject to…
In this paper, a guidance and tracking control strategy for fixed-wing Unmanned Aerial Vehicle (UAV) autopilots is presented. The proposed control exploits recent results on sample-based stochastic Model Predictive Control, which allow…
This letter investigates the coupled control problem in UAV networks utilizing high-frequency hybrid beamsteering. While phased arrays enable rapid electronic scanning, their finite Field of View (FoV) imposes a fundamental constraint that…
Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques. This…