Related papers: Versatile Distributed Maneuvering with Generalized…
Robust cooperative formation control is investigated in this paper for fixed-wing unmanned aerial vehicles in close formation flight to save energy. A novel cooperative control method is developed. The concept of virtual structure is…
This paper proposes a novel distributed technique to induce collective motions in affine formation control. Instead of the traditional leader-follower strategy, we propose modifying the original weights that build the Laplacian matrix so…
In this work, we present MoConVQ, a novel unified framework for physics-based motion control leveraging scalable discrete representations. Building upon vector quantized variational autoencoders (VQ-VAE) and model-based reinforcement…
Truss robots, or robots that consist of extensible links connected at universal joints, are often designed with modular physical components but require centralized control techniques. This paper presents a distributed control technique for…
Compared to the micro continuum robots that use traditional manufacturing technology, the micro fabricated continuum robots are different in terms of the application of smart materials, additive manufacturing process, and physical field…
Real-time interception of fast-moving objects by robotic arms in dynamic environments poses a formidable challenge due to the need for rapid reaction times, often within milliseconds, amidst dynamic obstacles. This paper introduces a…
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…
Mobile robots navigating in crowds trained using reinforcement learning are known to suffer performance degradation when faced with out-of-distribution scenarios. We propose that by properly accounting for the uncertainties of pedestrians,…
In this paper we propose MA-DV2F: Multi-Agent Dynamic Velocity Vector Field. It is a framework for simultaneously controlling a group of vehicles in challenging environments. DV2F is generated for each vehicle independently and provides a…
This paper addresses the problem of safe and efficient navigation in remotely controlled robots operating in hazardous and unstructured environments; or conducting other remote robotic tasks. A shared control method is presented which…
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…
We propose Flexible Vertical Federated Learning (Flex-VFL), a distributed machine algorithm that trains a smooth, non-convex function in a distributed system with vertically partitioned data. We consider a system with several parties that…
Generalizing manipulation skills to new situations requires extracting invariant patterns from demonstrations. For example, the robot needs to understand the demonstrations at a higher level while being invariant to the appearance of the…
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…
This paper presents a unified framework of time-varying formation (TVF) design for general linear multi-agent systems (MAS) based on an observer viewpoint from undirected to directed topology, from stabilization to tracking and from a…
This paper presents a generalized flexible Hybrid Cable-Driven Robot (HCDR). For the proposed HCDR, the derivation of the equations of motion and proof provide a very effective way to find items for generalized system modeling. The proposed…
Motion planning is challenging for multiple robots in cluttered environments without communication, especially in view of real-time efficiency, motion safety, distributed computation, and trajectory optimality, etc. In this paper, a…
Scaling general-purpose manipulation to new robot embodiments remains challenging: each platform typically needs large, homogeneous demonstrations, and end-to-end pixel-to-action pipelines may degenerate under background and viewpoint…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
Coordinated multi-robot navigation is an essential ability for a team of robots operating in diverse environments. Robot teams often need to maintain specific formations, such as wedge formations, to enhance visibility, positioning, and…