Related papers: Target Tracking using Robust Sensor Motion Control
We propose a control framework which can utilize tactile information by exploiting the complementarity structure of contact dynamics. Since many robotic tasks, like manipulation and locomotion, are fundamentally based in making and breaking…
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…
Traveling localized spots represent an important class of self-organized two-dimensional patterns in reaction-diffusion systems. We study open-loop control intended to guide a stable spot along a desired trajectory with desired velocity.…
Wireless sensor/actuator networks (WSANs) are emerging as a new generation of sensor networks. Serving as the backbone of control applications, WSANs will enable an unprecedented degree of distributed and mobile control. However, the…
Visual object tracking is an important computer vision problem with numerous real-world applications including human-computer interaction, autonomous vehicles, robotics, motion-based recognition, video indexing, surveillance and security.…
We propose a solution of the multiple target tracking (MTT) problem based on sets of trajectories and the random finite set framework. A full Bayesian approach to MTT should characterise the distribution of the trajectories given the…
A sensor has the ability to probe its surroundings. However, uncertainties in its exact location can significantly compromise its sensing performance. The radius of robust feasibility defines the maximum range within which robust…
Broadcast control is one of decentralized control methods for networked multi-agent systems. In this method, each agent does not communicate with the others, and autonomously determines its own action using only the same signal sent from a…
Feature tracking is a fundamental problem in computer vision, with applications in many computer vision tasks, such as visual SLAM and action recognition. This paper introduces a novel multi-body feature tracker that exploits a multi-body…
This paper studies robust tracking control for a leader-follower multi-agent system (MAS) subject to disturbances. A challenging problem is considered here, which differs from those in the literature in two aspects. First, we consider the…
Optimal control of a mobile robot system is formulated. Multiobjective criteria of time and energy is employed. The optimal control problem is formulated as a nonlinear programming problem (NLP). The problem is solved using the direct…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
This paper presents a controller design and optimization framework for nonlinear dynamic systems to track a given reference signal in the presence of disturbances when the task is repeated over a finite-time interval. This novel framework…
Motion tracking has been an important technique for imitating human-like movement from large-scale datasets in physics-based motion synthesis. However, existing approaches focus on tracking either single character or a particular type of…
A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…
A circular pursuit guidance problem involving pursuer-target engagement is studied in this paper using a bifurcation theory based numerical approach. While target is modeled as a point mass moving around in a circle with certain velocity,…
The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
Optimal control problems of tracking type for a class of linear systems with uncertain parameters in the dynamics are investigated. An affine tracking feedback control input is obtained by considering the minimization of an energy-like…
Improving wind turbine efficiency is essential for reducing the costs of energy production. The highly nonlinear dynamics of the wind turbines and their uncertain operating conditions have posed many challenges for their control methods. In…