Related papers: Trajectory Tracking with Reachability-Guided Quadr…
Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…
In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators…
In this paper, we consider the tracking control problem for robot manipulators which are affected by constant bounded disturbances. Three control schemes are applied for the problem, which composed of integral action and tracking…
In order to perform highly dynamic and agile maneuvers, legged robots typically spend time in underactuated domains (e.g. with feet off the ground) where the system has limited command of its acceleration and a constrained amount of time…
Approximate dynamic programming has been investigated and used as a method to approximately solve optimal regulation problems. However, the extension of this technique to optimal tracking problems for continuous time nonlinear systems has…
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…
Ideally, robots should move in ways that maximize the knowledge gained about the state of both their internal system and the external operating environment. Trajectory design is a challenging problem that has been investigated from a…
Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors,…
Tracked vehicles distribute their weight continuously over a large surface area (the tracks). This distinctive feature makes them the preferred choice for vehicles required to traverse soft and uneven terrain. From a robotics perspective,…
Minimum-time navigation within constrained and dynamic environments is of special relevance in robotics. Seeking time-optimality, while guaranteeing the integrity of time-varying spatial bounds, is an appealing trade-off for agile vehicles,…
Recent analyses highlight challenges in autonomous vehicle technologies, particularly failures in decision-making under dynamic or emergency conditions. Traditional automated driving systems recalculate the entire trajectory in a changing…
Trajectory retiming is the task of computing a feasible time parameterization to traverse a path. It is commonly used in the decoupled approach to trajectory optimization whereby a path is first found, then a retiming algorithm computes a…
In this paper we study an event based control algorithm for trajectory tracking in nonlinear systems. The desired trajectory is modelled as the solution of a reference system with an exogenous input and it is assumed that the desired…
This paper proposes a new robust trajectory tracking error-based control approach for unmanned ground vehicles. A trajectory tracking error-based model is used to design a linear model predictive controller and its control action is…
This paper aims to increase the safety and reliability of executing trajectories planned for robots with non-trivial dynamics given a light-weight, approximate dynamics model. Scenarios include mobile robots navigating through workspaces…
Fast and precise robot motion is needed in certain applications such as electronic manufacturing, additive manufacturing and assembly. Most industrial robot motion controllers allow externally commanded motion profile, but the trajectory…
Fast and precise motion control is important for industrial robots in manufacturing applications. However, some collaborative robots sacrifice precision for safety, particular for high motion speed. The performance degradation is caused by…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Industrial robotic applications such as spraying, welding, and additive manufacturing frequently require fast, accurate, and uniform motion along a 3D spatial curve. To increase process throughput, some manufacturers propose a dual-robot…
Legged robot locomotion requires the planning of stable reference trajectories, especially while traversing uneven terrain. The proposed trajectory optimization framework is capable of generating dynamically stable base and footstep…