Related papers: Safe Distributed Learning-Enhanced Predictive Cont…
This paper introduces an adaptive-neuro geometric control for a centralized multi-quadrotor cooperative transportation system, which enhances both adaptivity and disturbance rejection. Our strategy is to coactively tune the model parameters…
While quadruped robots usually have good stability and load capacity, bipedal robots offer a higher level of flexibility / adaptability to different tasks and environments. A multi-modal legged robot can take the best of both worlds. In…
This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functions (CBFs) to enable cooperative locomotion of multi-agent…
Coordinated multi-robot navigation is essential for robots to operate as a team in diverse environments. During navigation, robot teams usually need to maintain specific formations, such as circular formations to protect human teammates at…
Quadrupedal robots are increasingly deployed for load-carrying tasks across diverse terrains. While Model Predictive Control (MPC)-based methods can account for payload variations, they often depend on predefined gait schedules or…
Quadruped robots have emerged as an evolving technology that currently leverages simulators to develop a robust controller capable of functioning in the real-world without the need for further training. However, since it is impossible to…
To achieve high-levels of autonomy, modern robots require the ability to detect and recover from anomalies and failures with minimal human supervision. Multi-modal sensor signals could provide more information for such anomaly detection…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
Consensus formation tracking of multiple autonomous underwater vehicles (AUVs) subject to nonlinear and uncertain dynamics is a challenging problem in robotics. To tackle this challenge, a distributed bioinspired sliding mode controller is…
This paper considers the perception safety problem in distributed vision-based leader-follower formations, where each robot uses onboard perception to estimate relative states, track desired setpoints, and keep the leader within its camera…
The problem of distributed formation control of nonholonomic mobile robots is addressed in this paper, in which the robots are designed to track a formation. Collision avoidance among agents is guaranteed using a control law based on a…
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Non-uniform scaling control of formation enables multi-agent systems to adjust their shape by scaling with different ratios along different coordinate axes, offering enhanced flexibility in complex environments. However, like most existing…
Safety and stability are common requirements for robotic control systems; however, designing safe, stable controllers remains difficult for nonlinear and uncertain models. We develop a model-based learning approach to synthesize robust…
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…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
Safe operation of multi-robot systems is critical, especially in communication-degraded environments such as underwater for seabed mapping, underground caves for navigation, and in extraterrestrial missions for assembly and construction. We…
Flexible robots may overcome some of the industry's major challenges, such as enabling intrinsically safe human-robot collaboration and achieving a higher payload-to-mass ratio. However, controlling flexible robots is complicated due to…
In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…