相关论文: PI(t)D(t) Control and Motion Profiling for Omnidir…

For successful goal-directed human-robot interaction, the robot should adapt to the intentions and actions of the collaborating human. This can be supported by musculoskeletal or data-driven human models, where the former are limited to…

In this paper, we devise methods for the multi- objective control of humanoid robots, a.k.a. prioritized whole- body controllers, that achieve efficiency and robustness in the algorithmic computations. We use a form of whole-body…

The purpose of this review paper is to present some recent results on the modeling and control of large systems of agents. We focus on particular applications where the agents are capable of independent actions instead of simply reacting to…

In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…

In this paper, we address the problem of time-optimal coordination of mobile robots under kinodynamic constraints along specified paths. We propose a novel approach based on time discretization that leads to a mixed-integer linear…

Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with daily tasks, or construction workers can have robots…

Multi-axle autonomous mobile robots (AMRs) are set to revolutionize the future of robotics in logistics. As the backbone of next-generation solutions, these robots face a critical challenge: managing and minimizing the swept volume during…

In recent years, the demand for customized, on-demand production has grown in the manufacturing sector. Additive Manufacturing (AM) has emerged as a promising technology to enhance customization capabilities, enabling greater flexibility,…

Recent advances in data-driven reinforcement learning and motion tracking have substantially improved humanoid locomotion, yet critical practical challenges remain. In particular, while low-level motion tracking and trajectory-following…

With recent advancements in AI and computational tools, intelligent paradigms have emerged to enhance fields like shared autonomy and human-machine teaming in healthcare. Advanced AI algorithms (e.g., reinforcement learning) can…

Control systems are at the core of every real-world robot. They are deployed in an ever-increasing number of applications, ranging from autonomous racing and search-and-rescue missions to industrial inspections and space exploration. To…

Future Tele-operated Driving (ToD) applications place challenging Quality of Service (QoS) demands on existing mobile communication networks that are of highly important to comply with for safe operation. New remote control and platooning…

Modeling and control strategies for a design of an autonomous three wheeled mobile robot with front wheel steer is presented. Although, the three-wheel vehicle design with front wheel steer is common in automotive vehicles used often in…

In this work, we have implemented a SLAM-assisted navigation module for a real autonomous vehicle with unknown dynamics. The navigation objective is to reach a desired goal configuration along a collision-free trajectory while adhering to…

This work proposes a novel approach to social robot navigation by learning to generate robot controls from a social motion latent space. By leveraging this social motion latent space, the proposed method achieves significant improvements in…

Autonomously driving vehicles must be able to navigate in dynamic and unpredictable environments in a collision-free manner. So far, this has only been partially achieved in driverless cars and warehouse installations where marked…

We present Kinodynamic RRT*, an incremental sampling-based approach for asymptotically optimal motion planning for robots with linear differential constraints. Our approach extends RRT*, which was introduced for holonomic robots (Karaman et…

With the recent influx in demand for multi-robot systems throughout industry and academia, there is an increasing need for faster, robust, and generalizable path planning algorithms. Similarly, given the inherent connection between control…

This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…

This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…