相关论文: Co-Design of Autonomous Systems: From Hardware Sel…
We propose a method to design a suboptimal, coherent quantum LQG controller to solve a quantum equalization problem. Our method involves reformulating the problem as a control problem and then designing a classical LQG controller and…
Autonomous robots may be able to adapt their behavior in response to changes in the environment. This is useful, for example, to efficiently handle limited resources or to respond appropriately to unexpected events such as faults. The…
This work presents the development of a parallel manipulator used for otological surgery from the perspective of co-design. Co-design refers to the simultaneous involvement of the end-users (surgeons), stakeholders (designers, ergonomic…
The co-adaptation of robot morphology and behaviour becomes increasingly important with the advent of fast 3D-manufacturing methods and efficient deep reinforcement learning algorithms. A major challenge for the application of co-adaptation…
Problem definition: Drones, despite being acknowledged as a transformative force in the city logistics sector, are unable to execute the \textit{last-meter delivery} (unloading goods directly to customers' doorsteps) due to airspace…
This paper presents decentralized algorithms for formation control of multiple robots in three dimensions. Specifically, we leverage the mathematical properties of cyclic pursuit along with results from contraction and partial contraction…
We propose a control synthesis framework for a heterogeneous multi-robot system to satisfy collaborative tasks, where actions may take varying duration of time to complete. We encode tasks using the discrete logic LTL^\psi, which uses the…
Robot design is a nontrivial process that involves careful consideration of multiple criteria, including user specifications, kinematic structures, and visual appearance. Therefore, the design process often relies heavily on domain…
The verification and validation of cyber-physical systems is known to be a difficult problem due to the different modeling abstractions used for control components and for software components. A recent trend to address this difficulty is to…
Combinatorial Optimization (CO) encompasses a wide range of problems that arise in many real-world scenarios. While significant progress has been made in developing learning-based methods for specialized CO problems, a unified model with a…
The safe control of multi-robot swarms is a challenging and active field of research, where common goals include maintaining group cohesion while simultaneously avoiding obstacles and inter-agent collision. Building off our previously…
This paper presents a multi-step procedure to construct the dynamic motion model of an autonomous quadcopter, identify the model parameters, and design a model-based nonlinear trajectory tracking controller. The aim of the proposed method…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is…
Distributed control algorithms are known to reduce overall computation time compared to centralized control algorithms. However, they can result in inconsistent solutions leading to the violation of safety-critical constraints. Inconsistent…
Ensuring reliable and rule-compliant behavior of autonomous agents in uncertain environments remains a fundamental challenge in modern robotics. Our work shows how neuro-symbolic systems, which integrate probabilistic, symbolic white-box…
We study motion planning algorithms for collision free control of multiple objects in the presence of moving obstacles. We compute the topological complexity of algorithms solving this problem. We apply topological tools and use information…
Physical human-robot interaction (pHRI) integrates the benefits of human operator and a collaborative robot in tasks involving physical interaction, with the aim of increasing the task performance. However, the design of interaction…
Virtualization of computing and networking, IT-OT convergence, cybersecurity and AI-based enhancement of autonomy are significantly increasing the complexity of CPS and CPSoS. New challenges have emerged to demonstrate that these systems…
The new paradigm of human-robot collaboration has led to the creation of shared work environments in which humans and robots work in close contact with each other. Consequently, the safety regulations have been updated addressing these new…