Related papers: Safe Payload Transfer with Ship-Mounted Cranes: A …
Designing a model predictive control (MPC) scheme that enables a mobile robot to safely navigate through an obstacle-filled environment is a complicated yet essential task in robotics. In this technical report, safety refers to ensuring…
Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety analysis and struggle to adapt to varying payloads and complex…
Heterogeneous autonomous robot teams consisting of multirotor and uncrewed surface vessels (USVs) have the potential to enable various maritime applications, including advanced search-and-rescue operations. A critical requirement of these…
In this contribution, an intelligent controller is proposed for an underactuated overhead container crane subject to both parameter uncertainties and unmodeled dynamics. The adopted approach is based on the sliding mode method to confer…
This paper presents a scheme to enhance payload manipulation using a robot collaborating with an overhead crane. In the current industrial practice, when the crane's payload has to be accurately manipulated and located in a desired…
Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…
This paper investigates the application of a Model Predictive Controller (MPC) for the cruise control system of a quadrotor, focusing on hovering point stabilization and reference tracking. Initially, a full-state-feedback MPC is designed…
This paper presents a robust neural control design for a three-drone slung payload transportation system to track a reference path under external disturbances. The control contraction metric (CCM) is used to generate a neural exponentially…
We present a model predictive control (MPC) framework for nonlinear stochastic systems that ensures safety guarantee with high probability. Unlike most existing stochastic MPC schemes, our method adopts a set-erosion that converts the…
This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…
As legged robots are deployed in industrial and autonomous construction tasks requiring collaborative manipulation, they must handle object manipulation while maintaining stable locomotion. The challenge intensifies in real-world…
This paper proposes a novel robust adaptive model predictive controller for on-orbit dislodging. We study orbit dislodging where a servicing spacecraft uses a robotic arm to free a jammed and unactuated solar panel mounted on a hybrid hinge…
Connectivity-enabled automation of distributed control systems allow for better anticipation of system disturbances and better prediction of the effects of actuator limitations on individual agents when incorporating a model. Automated…
A robust Model Predictive Control (MPC) approach for controlling front steering of an autonomous vehicle is presented in this paper. We present various approaches to increase the robustness of model predictive control by using weight…
Model predictive control (MPC) is a powerful strategy for planning and control in autonomous mobile robot navigation. However, ensuring safety in real-world deployments remains challenging due to the presence of disturbances and measurement…
A nonparametric adaptive controller is proposed for crane control where the payload tracks a desired trajectory with feedback from the payload position. The controller is based on a novel version of partial feedback linearization where the…
We propose a novel robust Model Predictive Control (MPC) scheme for nonlinear multi-input multi-output systems of relative degree one with stable internal dynamics. The proposed algorithm is a combination of funnel MPC, i.e., MPC with a…
Payload swing during rapid slewing of mobile cranes poses a safety risk, as it generates overturning moments that can lead to tip-over accidents of mobile cranes. Currently, to limit the risk of tip-over, mobile crane operators are forced…
Automation of cranes can have a direct impact on the productivity of construction projects. In this paper, we focus on the control of one of the most used cranes, the boom crane. Tower cranes and overhead cranes have been widely studied in…
Automated vehicles and logistics robots must often position themselves in narrow environments with high precision in front of a specific target, such as a package or their charging station. Often, these docking scenarios are solved in two…