相关论文: Decentralized Observer Design for Virtual Decompos…

With the widening gap between compute and memory operation latencies, data movement optimizations have become increasingly important for DNN compilation. Current optimizations such as layout transformations and operator fusion only target a…

This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…

We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…

This paper presents a decentralized hybrid supervisory control approach for a team of unmanned helicopters that are involved in a leader-follower formation mission. Using a polar partitioning technique, the motion dynamics of the follower…

Visual imitation learning frameworks allow robots to learn manipulation skills from expert demonstrations. While existing approaches mainly focus on policy design, they often neglect the structure and capacity of visual encoders, limiting…

We propose a distributed design method for decentralized control by exploiting the underlying sparsity properties of the problem. Our method is based on chordal decomposition of sparse block matrices and the alternating direction method of…

This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We…

Dynamic surface control (DSC) method uses high gain filters to avoid the "explosion of complexity" issue inherent in backstepping based controller designs. As a result, the closed loop system and filter dynamics possess time scale…

As wind turbine power capacities continue to rise, taller and more flexible tower designs are needed for support. These designs often have the tower's natural frequency in the turbine's operating regime, increasing the risk of resonance…

Inter-robot transfer of training data is a little explored topic in learning- and vision-based robot control. Here we propose a transfer method from a robot with a lower Degree-of-Freedom (DoF) to one with a higher DoF utilizing the…

In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…

In this work we present a constructive method to design a family of virtual contraction based controllers that solve the standard trajectory tracking problem of flexible-joint robots (FJRs) in the port-Hamiltonian (pH) framework. The…

Teleoperated robotic manipulators enable the collection of demonstration data, which can be used to train control policies through imitation learning. However, such methods can require significant amounts of training data to develop robust…

Object reconstruction and inspection tasks play a crucial role in various robotics applications. Identifying paths that reveal the most unknown areas of the object is paramount in this context, as it directly affects reconstruction…

In biomechanical systems, observable performance is often used as a proxy for underlying system organization. However, this assumption implicitly presumes a correspondence between output metrics and internal system states that may not hold…

The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…

Reliable localization is a fundamental requirement for multi-robot systems operating in GPS-denied environments. Visual-inertial odometry (VIO) provides lightweight and accurate motion estimation but suffers from cumulative drift in the…

Multi-robot teams can achieve more dexterous, complex and heavier payload tasks than a single robot, yet effective collaboration is required. Multi-robot collaboration is extremely challenging due to the different kinematic and dynamics…

Distributed Video Coding (DVC) is a new coding paradigm for video compression, based on Slepian- Wolf (lossless coding) and Wyner-Ziv (lossy coding) information theoretic results. DVC is useful for emerging applications such as wireless…

Recently finite-dimensional observer-based controllers were introduced for the 1D heat equation, where at least one of the observation or control operators is bounded. In this paper, for the first time, we manage with such controllers for…