相关论文: Exponentially Stable First Order Control on Matrix…

In this paper, we describe procedures for computing higher-order time derivatives of the Lie-group Newton-Euler, Articulated-Body Inertia, and hybrid dynamics algorithms for floating-base trees, where the base configuration evolves on SE(3)…

This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid…

A Lie group is an old mathematical abstract object dating back to the XIX century, when mathematician Sophus Lie laid the foundations of the theory of continuous transformation groups. As it often happens, its usage has spread over diverse…

Estimating a target's 6-DoF motion in underwater proximity operations is difficult because the chaser lacks target-side proprioception and the available relative observations are sparse, noisy, and often partial (e.g., Ultra-Short Baseline…

Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…

We present NEO, a fast and purely reactive motion controller for manipulators which can avoid static and dynamic obstacles while moving to the desired end-effector pose. Additionally, our controller maximises the manipulability of the robot…

Linear systems on Lie groups are a natural generalization of linear system on Euclidian spaces. For such systems, this paper studies the properties of the maximal sets of approximate controllability.

This work presents a novel approach for the optimization of dynamic systems on finite-dimensional Lie groups. We rephrase dynamic systems as so-called neural ordinary differential equations (neural ODEs), and formulate the optimization…

Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phase problems. We…

The problem of attitude tracking using rotation matrices is addressed using an approach which combines inverse optimality and $\mathcal{L}_{2}$ disturbance attenuation. Conditions are provided which solve the inverse optimal nonlinear…

Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…

The configuration of most robotic systems lies in continuous transformation groups. However, in mobile robot trajectory tracking, many recent works still naively utilize optimization methods for elements in vector space without considering…

We introduce a new hybrid control strategy, which is conceptually different from the commonly used synergistic hybrid approaches, to efficiently deal with the problem of the undesired equilibria that precludes smooth vectors fields on…

We introduce Steerable Transformers, an extension of the Vision Transformer mechanism that maintains equivariance to the special Euclidean group $\mathrm{SE}(d)$. We propose an equivariant attention mechanism that operates on features…

We present an orientation adaptive controller to compensate for the effects of highly constrained environments on continuum manipulator actuation. A transformation matrix updated using optimal estimation techniques from optical flow…

This paper extends first-order motion planners to robots governed by second-order dynamics. Two control schemes are proposed based on the knowledge of a scalar function whose negative gradient aligns with a given first-order motion planner.…

We study safety-critical control on fully actuated mechanical systems by means of Zeroing Control Barrier Functions (ZCBFs) defined on Lie Groups. Specifically, we introduce and theoretically validate two classes of ZCBFs. The first…

Assurance of asymptotic trajectory tracking in robotic manipulators with a smooth control law in the presence of unmodeled dynamics or external disturbance is a challenging problem. Recently, it is asserted that it is achieved via a…

In this paper, we propose an approach to designing online feedback controllers for input-saturated robotic systems evolving on Lie groups by extending the recently developed Sequential Action Control (SAC). In contrast to existing feedback…

Handling orientations of robots and objects is a crucial aspect of many applications. Yet, ever so often, there is a lack of mathematical correctness when dealing with orientations, especially in learning pipelines involving, for example,…