相关论文: Target Encirclement with any Smooth Pattern Using …

Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…

For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…

The paper solves the problem of tracking control of a quadrotor with unmeasurable pitch and roll angles based on the geometric approach with the use of the enhanced extended observer and the internal model. The proposed approach makes it…

The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…

In this work, we propose a passivity-based controller that addresses the problem of set point regulation for planar robots with two links and flexible joints. Moreover, the controller is saturated and does not require velocity measurements.…

We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…

In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…

This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…

In this letter, we investigate the formation control problem of mobile robots moving in the plane where, instead of assuming robots to be simple points, each robot is assumed to have the form of a disk with equal radius. Based on interior…

Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…

Research in mobile robotics often demands platforms that have an adequate balance between cost and reliability. In the case of terrestrial robots, one of the available options is the GNBot, an open-hardware project intended for the…

Tactile information plays a critical role in human dexterity. It reveals useful contact information that may not be inferred directly from vision. In fact, humans can even perform in-hand dexterous manipulation without using vision. Can we…

Collaborative signal processing and sensor deployment have been among the most important research tasks in target tracking using networked sensors. In this paper, the mathematical model is formulated for single target tracking using mobile…

Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers from guiding rigid formations of mobile agents to converge to…

Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should determine the vehicle direction and velocity, in particular…

In this paper, we propose a novel safe, passive, and robust control law for mechanical systems. The proposed approach addresses safety from a physical human-robot interaction perspective, where a robot must not only stay inside a…

Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…

This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…

Impedance control is a well-established technique to control interaction forces in robotics. However, real implementations of impedance control with an inner loop may suffer from several limitations. Although common practice in designing…

We present the first controller for quasistatic robotic planar pushing with single-point contact using only force feedback. We consider a mobile robot equipped with a force-torque sensor to measure the force at the contact point with the…