Related papers: Understanding and Utilizing Dynamic Coupling in Fr…
Magnetic soft continuum robots (MSCRs) have emerged as a promising technology for minimally invasive interventions, offering enhanced dexterity and remote-controlled navigation in confined lumens. Unlike conventional guidewires with…
The dynamic cavity method provides the most efficient way to evaluate probabilities of dynamic trajectories in systems of stochastic units with unidirectional sparse interactions. It is closely related to sum-product algorithms widely used…
This paper proposes a sliding mode controller with smooth control effort for a class of nonlinear plants. The proposed controller is created by allowing some constant parameters of the earlier smooth sliding control (SSC) to vary as a…
Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…
Coupled human balancing tasks are investigated based on both pseudo-neural controllers characterized by time-delayed feedback with random gain and natural human balancing tasks. It is shown numerically that, compared to single balancing…
Modeling and simulation of pedestrian behavior is used in applications such as planning large buildings, disaster management, or urban planning. Realistically simulating pedestrian behavior is challenging, due to the complexity of…
Manipulation and grasping with unmanned aerial vehicles (UAVs) currently require accurate positioning and are often executed at reduced speed to ensure successful grasps. This is due to the fact that typical UAVs can only accommodate rigid…
Continuum soft robots are inherently underactuated and subject to intrinsic input constraints, making dynamic control particularly challenging, especially in hybrid rigid-soft robots. While most existing methods focus on quasi-static…
Shared control, which combines human expertise with autonomous assistance, is critical for effective teleoperation in complex environments. While recent advances in haptic-guided teleoperation have shown promise, they are often limited to…
UAV tracking can be widely applied in scenarios such as disaster rescue, environmental monitoring, and logistics transportation. However, existing UAV tracking methods predominantly emphasize speed and lack exploration in semantic…
We develop a hierarchical control architecture for autonomous docking maneuvers of a dynamic positioning vessel and provide formal safety guarantees. At the upper-level, we treat the vessel's desired surge, sway, and yaw velocities as…
Flying manipulators are aerial drones with attached rigid-bodied robotic arms and belong to the latest and most actively developed research areas in robotics. The rigid nature of these arms often lack compliance, flexibility, and smoothness…
We propose a scheme for mixed dynamical decoupling (MDD), where we combine continuous dynamical decoupling with robust sequences of phased pulses. Specifically, we use two fields for decoupling, where the first continuous driving field…
This paper studies a control method for switching stable coexisting attractors of a class of non-autonomous dynamical systems. The central idea is to introduce a continuous path for the system's trajectory to transition from its original…
While modeling multi-contact manipulation as a quasi-static mechanical process transitioning between different contact equilibria, we propose formulating it as a planning and optimization problem, explicitly evaluating (i) contact stability…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
This paper describes an optimization framework to control a distributed parameter system (DPS) using a team of mobile actuators. The framework simultaneously seeks optimal control of the DPS and optimal guidance of the mobile actuators such…
With the rapid advancement of vehicular communication facilities and autonomous driving technologies, connected vehicle platooning has emerged as a promising approach to improve traffic efficiency and driving safety. Reliable…
Aerial Manipulators (AMs) provide a versatile platform for various applications, including 3D printing, architecture, and aerial grasping missions. However, their operational speed is often sacrificed to uphold precision. Existing control…
This paper articulates design and performance analysis of digital controllers in discrete and continuous time domains for a single-joint robot arm manipulator. The investigated robot arm system is modeled as a single degree of freedom (DOF)…