Related papers: Electromagnetic Formation Flying Using Alternating…
This paper studies the kinematic tracking control problem for aerial manipulators. Existing kinematic tracking control methods, which typically employ proportional-derivative feedback or tracking-error-based feedback strategies, may fail to…
Inter-beam interference poses a significant challenge in low Earth orbit (LEO) satellite communications due to dense satellite constellations. To address this issue, we introduce spacetime beamforming, a novel paradigm that leverages the…
A safe controller for multicopter is proposed using control barrier function. Multicopter dynamics are reformulated to deal with mixed-relative-degree and non-strict-feedback-form dynamics, and a time-varying safe backstepping controller is…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
The high mobility of unmanned aerial vehicles (UAVs) enables them to be used in various civilian fields, such as rescue and cargo transport. Path-following is a crucial way to perform these tasks while sensing and collision avoidance are…
This work presents a novel algorithm for impulsive optimal control of linear time-varying systems with the inclusion of input magnitude constraints. Impulsive optimal control problems, where the optimal input solution is a sum of delta…
In formation control, an ensemble of autonomous agents is required to stabilize at a given configuration in the plane, doing so while agents are allowed to observe only a subset of the ensemble. As such, formation control provides a rich…
This paper proposes an integrated framework for coordinating multiple unmanned aerial vehicles (UAVs) in a distributed manner to persistently enclose and track a moving target without relying on external localization systems. The proposed…
We study a high throughput satellite system, where the feeder link uses free-space optical (FSO) and the user link uses radio frequency (RF) communication. In particular, we first propose a transmit diversity using Alamouti space time block…
Attitude control hardware for small satellites is often limited in power and space availability given the importance of the science instruments they exist to transport. To mitigate this, a dual-spin stabilized satellite actuated via…
This paper presents methodologies for constructing Control Barrier Functions (CBFs) for nonlinear, control-affine systems, in the presence of input constraints and bounded disturbances. More specifically, given a constraint function with…
This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at each end-effector. The disturbances are assumed to be…
The control of flying qubits carried by itinerant photons is ubiquitous in quantum networks. Beside their logical states, the shape of flying qubits must also be tailored for high-efficiency information transmission. In this paper, we…
This paper proposes a real-time movement control algorithm for massive unmanned aerial vehicles (UAVs) that provide emergency cellular connections in an urban disaster site. While avoiding the inter-UAV collision under temporal wind…
A model predictive control (MPC) framework is developed for station-keeping in spacecraft formation flight along libration point orbits. At each control period, the MPC policy solves a multi-vehicle optimal control problem (MVOCP) that…
We present a novel haptic teleoperation approach that considers not only the safety but also the stability of a teleoperation system. Specifically, we build upon previous work on haptic shared control, which uses control barrier functions…
Linear and nonlinear resonant states can be restrictive: they exist at particular discrete states in frequency and/or elasticity, under particular (e.g., simple-harmonic) waveforms. In forced oscillators, this restrictiveness is an obstacle…
Multi-robot formation control enables robots to cooperate as a working group in completing complex tasks, which has been widely used in both civilian and military scenarios. Before moving to reach a given formation, each robot should choose…
We present a closed-form optimal control that satisfies both safety constraints (i.e., state constraints) and input constraints (e.g., actuator limits) using a composition of multiple control barrier functions (CBFs). This main contribution…
Characterising the noise of an airborne electromagnetic (AEM) system is critical in correctly imaging the earth's subsurface conductivity. Deterministic and probabilistic geophysical inversion algorithms require foreknowledge of the system…