Related papers: Toward Model Matching for Remotely Controlled Diff…
Although inverse kinematics of serial manipulators is a well studied problem, challenges still exist in finding smooth feasible solutions that are also collision aware. Furthermore, with collaborative service robots gaining traction,…
In this paper, we propose and demonstrate an adaptive-sliding mode control for trajectory tracking control of robot manipulators subjected to uncertain dynamics, vibration disturbance, and payload variation disturbance. Throughout this work…
Precision contouring control is crucial in industrial machining processes, particularly for applications such as laser and water jet cutting, where contouring accuracy directly determines product quality. This paper presents a novel control…
Construction equipment is designed to maintain good traction, even when operating in difficult off-road conditions. To curb wheel slip, the vehicles are equipped with differential locks. A driver may engage/disengage the locks to switch…
We introduce a distributed control architecture for a class of heterogeneous, nonlinear dynamical agents moving in the "string" formation, while guaranteeing trajectory tracking, collision avoidance and the preservation of the formation's…
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…
We present a delay-compensating control method that transforms exponentially stabilizing controllers for an undelayed system into a sample-based predictive controller with numerical integration. Our method handles both first-order and…
Mobile robots have received a great deal of research in recent years. A significant amount of research has been published in many aspects related to mobile robots. Most of the research is devoted to design and develop some control…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and…
A new model-free setting and the corresponding "intelligent" P and PD controllers are employed for the longitudinal and lateral motions of a vehicle. This new approach has been developed and used in order to ensure simultaneously a best…
Identifying and controlling an unstable, underactuated robot to enable reference tracking is a challenging control problem. In this paper, a ballbot (robot balancing on a ball) is used as an experimental setup to demonstrate and test…
Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…
This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…
Networked control systems are closed-loop feedback control systems containing system components that may be distributed geographically in different locations and interconnected via a communication network such as the Internet. The quality…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
The controller is one of the most important modules in the autonomous driving pipeline, ensuring the vehicle reaches its desired position. In this work, a reinforcement learning based lateral control approach, despite the imperfections in…
This paper addresses the challenge of coordinating multi-robot systems under realistic communication delays using distributed optimization. We focus on consensus ADMM as a scalable framework for generating collision-free, dynamically…
This paper explores the possibility of improving bilateral robot manipulation task performance through optimizing the robot morphology and configuration of the system through motion. To optimize the design for different scenarios, we select…
We present an algorithm, based on the Differential Dynamic Programming framework, to handle trajectory optimization problems in which the horizon is determined online rather than fixed a priori. This algorithm exhibits exact one-step…