相关论文: Distributed Control of Truss Robots Using Consensu…

We propose integrating the edge-computing paradigm into the multi-robot collaborative scheduling to maximize resource utilization for complex collaborative tasks, which many robots must perform together. Examples include collaborative…

This paper investigates a fully distributed cooperation scheme for networked mobile manipulators. To achieve cooperative task allocation in a distributed way, an adaptation-based estimation law is established for each robotic agent to…

Trajectory optimization and model predictive control are essential techniques underpinning advanced robotic applications, ranging from autonomous driving to full-body humanoid control. State-of-the-art algorithms have focused on data-driven…

Robotic swarm systems are now becoming increasingly attractive for many challenging applications. The main task for any robot is to reach the destination while keeping a safe separation from other robots and obstacles. In many scenarios,…

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…

Truss robots are highly redundant parallel robotic systems that can be applied in a variety of scenarios. The variable topology truss (VTT) is a class of modular truss robots. As self-reconfigurable modular robots, a VTT is composed of many…

Inspired by the concept of network algebraic connectivity, we adopt an extended notion named rigidity preservation index to characterize the rigidity property for a formation framework. A gradient based controller is proposed to ensure the…

A new distributed MPC algorithm for the regulation of dynamically coupled subsystems is presented in this paper. The current control action is computed via two robust controllers working in a nested fashion. The inner controller builds a…

This research proposes a distributed switching control to secure multi-robot systems in the presence of cyberattacks. Two major types of cyberattack are considered: deception attack and denial of service (DoS) attack, which compromise the…

The sliding square model is a widely used abstraction for studying self-reconfigurable robotic systems, where modules are square-shaped robots that move by sliding or rotating over one another. In this paper, we propose a novel distributed…

High-performance closed-loop control of truly soft continuum manipulators has remained elusive. Experimental demonstrations have largely relied on sufficiently stiff, piecewise architectures in which each actuated segment behaves as a…

Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in…

Cooperative control is crucial for the effective operation of dynamical multi-agent systems. Especially for distributed control schemes, it is essential to exchange data between the agents. This becomes a privacy threat if the data is…

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…

In this paper, we consider the problem of containment control of multi-agent systems with multiple stationary leaders, interacting over a directed network. While, containment control refers to just ensuring that the follower agents reach…

This paper addresses the compliance minimization of a truss, where the number of available nodes is limited. It is shown that this optimization problem can be recast as a second-order cone programming with a cardinality constraint. We…

Collaborative robots and space manipulators contain significant joint flexibility. It complicates the control design, compromises the control bandwidth, and limits the tracking accuracy. The imprecise knowledge of the flexible joint…

We present a distributed algorithm that enables a group of robots to collaboratively optimize the parameters of a deep neural network model while communicating over a mesh network. Each robot only has access to its own data and maintains…

Geometric pattern formation is crucial in many tasks involving large-scale multi-agent systems. Examples include mobile agents performing surveillance, swarm of drones or robots, or smart transportation systems. Currently, most control…

This paper studies distributed trajectory tracking for networks of nonholonomic mobile robots under adversarial information exchange. An exact global input--output feedback linearization scheme is developed to regulate planar position…