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In this paper, we study the longitudinal control problem for a platoon of vehicles with unknown nonlinear dynamics under both the predecessor-following and the bidirectional control architectures. The proposed control protocols are fully…
Long-distance driving is an important component of planetary surface exploration. Unforeseen events often require human operators to adjust mobility plans, but this approach does not scale and will be insufficient for future missions.…
DORI (Distributed Outdoor Robotic Instruments) is a remotely controlled vehicle that is designed to simulate a planetary exploration mission. DORI is equipped with over 20 environmental sensors and can perform basic data analysis, logging…
Satellite rendezvous and docking (RvD) maneuvers are essential for satellite servicing and in-orbit assembly. Traditional approaches often treat translational and rotational motions independently, simplifying control design but potentially…
With a slender redundant body, the tendon-driven robot (TDR) has a large workspace and great maneuverability while working in complex environments. TDR comprises multiple independently controlled robot segments, each with a set of driving…
To succeed in the real world, robots must deal with situations that differ from those seen during training. Those out-of-distribution situations for legged robot mainly include challenging dynamic gaps and perceptual gaps. Here we study the…
While the capabilities of autonomous systems have been steadily improving in recent years, these systems still struggle to rapidly explore previously unknown environments without the aid of GPS-assisted navigation. The DARPA Subterranean…
Quadrotors can provide services such as infrastructure inspection and search-and-rescue, which require operating autonomously in cluttered environments. Autonomy is typically achieved with receding-horizon planning, where a short plan is…
Spacecraft operations are influenced by uncertainties such as dynamics modeling, navigation, and maneuver execution errors. Although mission design has traditionally incorporated heuristic safety margins to mitigate the effect of…
Despite the rapid technological progress, autonomous vehicles still face a wide range of complex driving situations that require human intervention. Teleoperation technology offers a versatile and effective way to address these challenges.…
In everyday life, we often find that we can maintain an object's equilibrium on a tray by adjusting its orientation. Building upon this observation and extending the method we previously proposed to suppress sloshing in a moving vessel,…
Reinforcement Learning (RL) algorithms have achieved remarkable performance in decision making and control tasks due to their ability to reason about long-term, cumulative reward using trial and error. However, during RL training, applying…
Soft growing vine robots show great potential for navigation and decontamination tasks in the nuclear industry. This paper introduces a novel hybrid continuum-eversion robot designed to address certain challenges in relation to navigating…
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other…
Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…
Modeling and control strategies for a design of an autonomous three wheeled mobile robot with front wheel steer is presented. Although, the three-wheel vehicle design with front wheel steer is common in automotive vehicles used often in…
Direct collocation methods are powerful tools to solve trajectory optimization problems in robotics. While their resulting trajectories tend to be dynamically accurate, they may also present large kinematic errors in the case of constrained…
Terrestrial-aerial bimodal vehicles bloom in both academia and industry because they incorporate both the high mobility of aerial vehicles and the long endurance of ground vehicles. In this work, we present an autonomous and adaptive…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
Soft robots have the ability to adapt to their environment, which makes them suitable for use in disaster areas and agricultural fields, where their mobility is constrained by complex terrain. One of the main challenges in developing soft…