Related papers: Privacy-Preserving Formation Control for Networked…
This work addresses the problem of constrained motion control of the uncrewed surface vessels. The constraints are imposed on states/inputs of the vehicles due to the physical limitations, mission requirements, and safety considerations. We…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
We propose a safety-guaranteed planning and control framework for unmanned surface vessels (USVs), using Gaussian processes (GPs) to learn uncertainties. The uncertainties encountered by USVs, including external disturbances and model…
This study proposes a new distributed control method based on an adaptive fuzzy control for multiple collaborative autonomous underwater vehicles (AUVs) to track a desired formation shape within a fixed time. First, a formation control…
This paper proposes a novel trajectory generation method based on Model Predictive Control (MPC) for agile landing of an Unmanned Aerial Vehicle (UAV) onto an Unmanned Surface Vehicle (USV)'s deck in harsh conditions. The trajectory…
As multi-agent systems proliferate, there is increasing demand for coordination protocols that protect agents' sensitive information while allowing them to collaborate. To help address this need, this paper presents a differentially private…
Most passivity based trajectory tracking algorithms for mechanical systems can only stabilise reference trajectories that have constant energy. This paper overcomes this limitation by deriving a single variable Hamiltonian model for the…
We propose a scalable cooperative control approach which coordinates a group of rigidly connected autonomous surface vessels to track desired trajectories in a planar water environment as a single floating modular structure. Our approach…
In this work, we propose a passivity-based control approach that addresses the trajectory tracking problem for a class of mechanical systems that comprises a broad range of robotic arms. The resulting controllers can be naturally saturated…
This paper investigates the safe platoon formation tracking and merging control problem of connected and automated vehicles (CAVs) on curved multi-lane roads. The first novelty is the separation of the control designs into two distinct…
Passivity-based control ensures system stability by leveraging dissipative properties and is widely applied in electrical and mechanical systems. Port-Hamiltonian systems (PHS), in particular, are well-suited for interconnection and damping…
In this paper,we design a formation control systrm for multi-unmanned ground vehicles(UGV) from the prospective of path planning and path tracking.The master-slave control is adopted by electing out a main vehicle to address the problem of…
The growing interest in space activities has led to the emergence of new space operators and innovative mission concepts. Small satellites such as CubeSats reduce mission costs and are typically deployed in constellations or formation…
This paper addresses the trajectory planning for multiple autonomous underwater vehicles (AUVs) in strong waves that can disturb the AUVs' trajectory tracking ability and cause obstacle and inter-vehicle collisions. A novel approach based…
In this article, we address aquatic environmental monitoring using a fleet of unmanned surface vehicles (USVs). Specifically, we develop an online path generator that provides either circular or elliptic paths based on the real-time…
Unmanned Surface Vehicles (USVs) play a pivotal role in various applications, including surface rescue, commercial transactions, scientific exploration, water rescue, and military operations. The effective control of high-speed unmanned…
The operation of an autonomous underwater vehicle (AUV) faces challenges in following predetermined waypoints due to coupled motions under environmental disturbances. To address this, a 3D path following guidance and control system is…
Autonomous surface vehicles (ASVs) are influenced by environmental disturbances such as wind and waves, making accurate trajectory tracking a persistent challenge in dynamic marine conditions. In this paper, we propose an efficient…
Based on the practical scenario where collisions in formation control may lead to agent damage, this paper investigates the integrated problem of distance-based formation control and collision avoidance for multi-agent systems governed by…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…