Related papers: Morphogenetic Assembly and Adaptive Control for He…
Model Predictive Path Integral (MPPI) control has emerged as a powerful sampling-based optimal control method for complex, nonlinear, and high-dimensional systems. However, directly applying MPPI to legged robotic systems presents several…
This paper considers the problem of adaptively overriding unsafe actions of a nominal controller in the presence of high-relative-degree nonovershooting constraints and parametric uncertainties. To prevent the design from being coupled with…
Robot control policies for temporally extended and sequenced tasks are often characterized by discontinuous switches between different local dynamics. These change-points are often exploited in hierarchical motion planning to build…
Industrial manipulators have extensively collaborated with human operators to execute tasks, e.g., disassembly of end-of-use products, in intelligent remanufacturing. A safety task execution requires real-time path planning for the…
Traditional aerial vehicles have limitations in their capabilities due to actuator constraints, such as motor saturation. The hardware components and their arrangement are designed to satisfy specific requirements and are difficult to…
In applications such as search and rescue or disaster relief, heterogeneous multi-robot systems (MRS) can provide significant advantages for complex objectives that require a suite of capabilities. However, within these application spaces,…
The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…
Ensuring safety in autonomous vehicles necessitates advanced path planning and obstacle avoidance capabilities, particularly in dynamic environments. This paper introduces a bi-level control framework that efficiently augments road…
Heterogeneous computing is one of the most important computational solutions to meet rapidly increasing demands on system performance. It typically allows the main flow of applications to be executed on a CPU while the most computationally…
We present the design of a learning-based compliance controller for assembly operations for industrial robots. We propose a solution within the general setting of learning from demonstration (LfD), where a nominal trajectory is provided…
The ability to update a path plan is a required capability for autonomous mobile robots navigating through uncertain environments. This paper proposes a re-planning strategy using a multilayer planning and control framework for cases where…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
This paper focuses on designing motion plans for a heterogeneous team of robots that must cooperate to fulfill a global mission. Robots move in an environment that contains some regions of interest, while the specification for the entire…
Navigating automated driving systems (ADSs) through complex driving environments is difficult. Predicting the driving behavior of surrounding human-driven vehicles (HDVs) is a critical component of an ADS. This paper proposes an enhanced…
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,…
The cooperative control applied to vehicles allows the optimization of traffic on the roads. There are many aspects to consider in the case of the operation of autonomous vehicles on highways since there are different external parameters…
Field robot systems have recently been applied to a wide range of research fields. Making such systems more automated, advanced, and activated requires cooperation among heterogeneous robots. Classic control theory is inefficient in…
In communicationless environments, multi-robot systems must operate without the constant information exchange that many coordination strategies typically assume. This paper presents a novel dynamic epistemic planning framework that enables…
In some high-precision industrial applications, robots are deployed to perform precision assembly tasks on mass batches of manufactured pegs and holes. If the peg and hole are designed with transition fit, machining errors may lead to…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…