Related papers: Quadratic-Programming-based Control of Multi-Robot…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
In this chapter, we propose a novel approach for solving the coordination of a fleet of mobile robots, which consists of finding a set of collision-free trajectories for individual robots in the fleet. This problem is studied for several…
As robotic agents increasingly assist humans in reality, quadruped robots offer unique opportunities for interaction in complex scenarios due to their agile movement. However, building agents that can autonomously navigate, adapt, and…
Optimal control is a successful approach to generate motions for complex robots, in particular for legged locomotion. However, these techniques are often too slow to run in real time for model predictive control or one needs to drastically…
Collaborative space robots are an emerging technology with high impact as robots facilitate servicing functions in collaboration with astronauts with higher precision during lengthy tasks, under tight operational schedules, with less risk…
Mobile robots are ubiquitous. Such vehicles benefit from well-designed and calibrated control algorithms ensuring their task execution under precise uncertainty bounds. Yet, in tasks involving humans in the loop, such as elderly or mobility…
In this paper, we address the problem of stable coordinated motion in multi-robot systems with limited fields of view (FOVs). These problems arise naturally for multi-robot systems that interact based on sensing, such as our case study of…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
Spherical robot is a nonlinear, nonholonomic and unstable system which increases the difficulty of the direction and trajectory tracking problem. In this study, we propose a new direction controller HTSMC, an instruction planning controller…
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…
This article presents a unified approach to quadratic optimal control for both linear and nonlinear discrete-time systems, with a focus on trajectory tracking. The control strategy is based on minimizing a quadratic cost function that…
This article introduces PlaCo, a software framework designed to simplify the formulation and solution of Quadratic Programming (QP)-based planning and control problems for robotic systems. PlaCo provides a high-level interface that…
Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…
Ensuring operational safety is critical for human-to-humanoid motion imitation. This paper presents a vision-based framework that enables a humanoid robot to imitate human movements while avoiding collisions. Human skeletal keypoints are…
We introduce a robust control architecture for the whole-body motion control of torque controlled robots with arms and legs. The method is based on the robust control of contact forces in order to track a planned Center of Mass trajectory.…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
The robotic shape control of deformable linear objects has garnered increasing interest within the robotics community. Despite recent progress, the majority of shape control approaches can be classified into two main groups: open-loop…
Coordinated motion control in swarm robotics aims to ensure the coherence of members in space, i.e., the robots in a swarm perform coordinated movements to maintain spatial structures. This problem can be modeled as a tracking control…
We present controllers that enable mobile robots to persistently monitor or sweep a changing environment. The changing environment is modeled as a field which grows in locations that are not within range of a robot, and decreases in…
This paper presents a novel method to control humanoid robot dynamic loco-manipulation with multiple contact modes via multi-contact Model Predictive Control (MPC) framework. The proposed framework includes a multi-contact dynamics model…