Related papers: Control and Navigation of a 2-D Electric Rocket
Online optimal control of quadrupedal robots would enable them to plan their movement in novel scenarios. Linear Model Predictive Control (LMPC) has emerged as a practical approach for real-time control. In LMPC, an optimization problem…
A long-cherished vision of drones is to autonomously traverse through clutter to reach every corner of the world using onboard sensing and computation. In this paper, we combine onboard 3D lidar sensing and sim-to-real reinforcement…
In this paper we study the problem of computing minimum-energy controls for linear systems from experimental data. The design of open-loop minimum-energy control inputs to steer a linear system between two different states in finite time is…
We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…
A generic data-assisted control architecture within the port-Hamiltonian framework is proposed, introducing a physically meaningful observable that links conservative dynamics to all actuation, dissipation, and disturbance channels. A…
In this paper, a new under-actuated Bi-Quadcopter Unmanned Aerial Vehicle is introduced. The proposed drone configuration can be controlled similar to a Bicopter. The dynamics of the proposed Bi-Quadcopter is developed using the…
Electric truck operations require routing decisions that remain feasible under limited battery range, long charging times, travel and energy consumption, and competition for shared charging infrastructure. These features make electric truck…
This paper studies the learning-to-control problem under process and sensing uncertainties for dynamical systems. In our previous work, we developed a data-based generalization of the iterative linear quadratic regulator (iLQR) to design…
A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as "global-position tracking". This paper introduces a nonlinear…
The recent advancement in vehicular networking technology provides novel solutions for designing intelligent and sustainable vehicle motion controllers. This work addresses a car-following task, where the feedback linearisation method is…
The innovative concept of Electric Aircraft is a challenging topic involving different control objectives. For instance, it becomes possible to reduce the size and the weight of the generator by using the battery as an auxiliary generator…
Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…
The growing number of noncooperative flying objects has prompted interest in sample-return and space debris removal missions. Current solutions are both costly and largely dependent on specific object identification and capture methods. In…
The penetrations of lithium-ion batteries in transport, energy and communication systems are increasing rapidly. A meticulous model applicable for precise in-situ monitoring and convenient online controlling is in sought to bridge the gap…
A common way to implement navigation in mobile robots is through the use of landmarks. In this case, the main goal of the controller is to make progress toward a goal location (stability), while avoiding the boundary of the environment…
Using a projection-based decoupling of the Fokker-Planck equation, control strategies that allow to speed up the convergence to the stationary distribution are investigated. By means of an operator theoretic framework for a bilinear control…
We present a novel method of optimal robust control through quadratic programs that offers tracking stability while subject to input and state-based constraints as well as safety-critical constraints for nonlinear dynamical robotic systems…
Many of the existing works on quadrotor control address the trajectory tracking problem by employing a cascade design in which the translational and rotational dynamics are stabilized by two separate controllers. The stability of the…
This paper addresses the problem of controlling multiple unmanned aerial vehicles (UAVs) cooperating in a formation to carry out a complex task such as surface inspection. We first use the virtual leader-follower model to determine the…
This study proposes an event-based reconfiguration control to navigate a robot swarm through challenging environments with narrow passages such as valleys, tunnels, and corridors. The robot swarm is modeled as an undirected graph, where…