Related papers: PCT-Based Trajectory Tracking for Underactuated Ma…
This research proposes an innovative approach to detumble satellites' triple-axis angular velocities with only one single-axis magnetic torquer. Since magnetic torque is generated perpendicularly to magnetorquers, no intended control torque…
We propose a learning-based trajectory tracking controller for autonomous robotic platforms whose motion can be described kinematically on $\mathrm{SE}(3)$. The controller is formulated in the dual quaternion framework and operates at the…
The paper develops a singularity-free backstepping-based adaptive control for stabilizing and tracking the trajectory of a bicopter system. In the bicopter system, the inertial parameters parameterize the input map. Since the classical…
Transit timing variations - deviations from strict periodicity between successive passages of a transiting planet - can be used to probe the structure and dynamics of multiple-planet systems. In this paper, we examine prospects for…
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 presents a novel robust predictive controller for constrained nonlinear systems that is able to track piece-wise constant setpoint signals. The tracking model predictive controller presented in this paper extends the nonlinear…
Target tracking problem has many practical applications in real life. In submarines, target tracking is done using, preferably, passive sensors. These sensors measure only the bearing angles between the observed target and the ownship.…
We present a new technique based on two-pathway optical coherent control for the sensitive detection and precise measurement of highly-forbidden transitions in atomic systems. Specifically, we show that ($\omega$, 2$\omega$) coherent…
This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles'…
This paper presents an approach towards guaranteed trajectory tracking for nonlinear control-affine systems subject to external disturbances based on robust control contraction metrics (CCM) that aims to minimize the $\mathcal L_\infty$…
As an important area in computer vision, object tracking has formed two separate communities that respectively study Single Object Tracking (SOT) and Multiple Object Tracking (MOT). However, current methods in one tracking scenario are not…
Model-based policy optimization often struggles with inaccurate system dynamics models, leading to suboptimal closed-loop performance. This challenge is especially evident in Model Predictive Control (MPC) policies, which rely on the model…
Flying robots such as the quadrotor could provide an efficient approach for medical treatment or sensor placing of wild animals. In these applications, continuously targeting the moving animal is a crucial requirement. Due to the…
This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…
Underactuated vehicles have gained much attention in the recent years due to the increasing amount of aerial and underwater vehicles as well as nanosatellites. Trajectory tracking control of these vehicles is a substantial aspect for an…
We describe a docking mechanism and strategy to allow modular self-assembly for the Modboat: an inexpensive underactuated oscillating swimming robot powered by a single motor. Because propulsion is achieved through oscillation, orientation…
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…
Trajectory prediction and planning in autonomous driving are highly challenging due to the complexity of predicting surrounding agents' movements and planning the ego agent's actions in dynamic environments. Existing methods encode map and…
In the field of space exploration, floating platforms play a crucial role in scientific investigations and technological advancements. However, controlling these platforms in zero-gravity environments presents unique challenges, including…
This paper presents a model-based, adaptive, nonlinear controller for the bicopter stabilization and trajectory-tracking problem. The nonlinear controller is designed using the backstepping technique. Due to the non-invertibility of the…