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Safety and tracking stability are crucial for safety-critical systems such as self-driving cars, autonomous mobile robots, industrial manipulators. To efficiently control safety-critical systems to ensure their safety and achieve tracking…

Because fuel efficiency is significantly impacted by the timing of combustion in internal combustion engines, accurate control of combustion phasing is critical. In this paper, a nonlinear combustion phasing model is introduced and…

Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…

Accurate models are essential for design, performance prediction, control, and diagnostics in complex engineering systems. Physics-based models excel during the design phase but often become outdated during system deployment due to changing…

This paper proposes a modular framework to generate robust biped locomotion using a tight coupling between an analytical walking approach and deep reinforcement learning. This framework is composed of six main modules which are…

As autonomous systems become more complex and integral in our society, the need to accurately model and safely control these systems has increased significantly. In the past decade, there has been tremendous success in using deep learning…

Learning from demonstration is an effective method for human users to instruct desired robot behaviour. However, for most non-trivial tasks of practical interest, efficient learning from demonstration depends crucially on inductive bias in…

Due to changes in model dynamics or unexpected disturbances, an autonomous robotic system may experience unforeseen challenges during real-world operations which may affect its safety and intended behavior: in particular actuator and system…

We present a modular, full-stack autonomy system for lunar surface navigation and mapping developed for the Lunar Autonomy Challenge. Operating in a GNSS-denied, visually challenging environment, our pipeline integrates semantic…

Soft robotic manipulators offer operational advantage due to their compliant and deformable structures. However, their inherently nonlinear dynamics presents substantial challenges. Traditional analytical methods often depend on simplifying…

In this paper we present a method of discrete modeling and analysis of multi-level dynamics of complex large-scale hierarchical dynamic systems subject to external dynamic control mechanism. In a model each state describes parallel dynamics…

This paper presents a data-driven optimal control policy for a micro flapping wing unmanned aerial vehicle. First, a set of optimal trajectories are computed off-line based on a geometric formulation of dynamics that captures the nonlinear…

Determining the reachable set for a given nonlinear control system is crucial for system control and planning. However, computing such a set is impossible if the system's dynamics are not fully known. This paper is motivated by a scenario…

For the optimum design of a driver-automation shared control system, an understanding of driver behavior based on measurements and modeling is crucial early in the development process. This paper presents a driver model through a weighting…

Legged robots are promising candidates for exploring challenging areas on low-gravity bodies such as the Moon, Mars, or asteroids, thanks to their advanced mobility on unstructured terrain. However, as planetary robots' power and thermal…

Stability and safety are critical properties for successful deployment of automatic control systems. As a motivating example, consider autonomous mobile robot navigation in a complex environment. A control design that generalizes to…

A particular type of assistive robots designed for physical interaction with objects could play an important role assisting with mobility and fall prevention in healthcare facilities. Autonomous mobile manipulation presents a hurdle prior…

Robotic and human lunar landings are a focus of future NASA missions. Precision landing capabilities are vital to guarantee the success of the mission, and the safety of the lander and crew. During the approach to the surface there are…

The feasibility of performing airborne and ground manipulation, perception, and reconnaissance using wheeled rovers, unmanned aerial vehicles, CubeSats, SmallSats and more have been evaluated before. Among all of these solutions,…

This paper addresses efficient feasibility evaluation of possible emergency landing sites, online navigation, and path following for automatic landing under engine-out failure subject to turbulent weather. The proposed Multi-level Adaptive…