相关论文: A Novel Uncalibrated Visual Servoing Controller Ba…
Under voltage load shedding (UVLS) for power grid emergency control builds the last defensive perimeter to prevent cascade outages and blackouts in case of contingencies. This letter proposes a novel cooperative multi-agent deep…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…
Utilizing a servo to tilt each rotor transforms quadrotors from underactuated to overactuated systems, allowing for independent control of both attitude and position, which provides advantages for aerial manipulation. However, this…
We investigate the problem of safe control synthesis for systems operating in environments with uncontrollable agents whose dynamics are unknown but coupled with those of the controlled system. This scenario naturally arises in various…
Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…
This paper deals with the tracking control problem for a class of unknown pure feedback system with pure state constraints on the state variables and unknown time-varying bounded disturbances. An adaptive controller is presented for such…
The current model-free adaptive control (MFAC) method is designed on the basis of the equivalent-dynamic-linearization model (EDLM) with neglect of the time delay and disturbance in practical. By comparisons with the current works about…
In this paper, adaptive neural control (ANC) is investigated for a class of strict-feedback nonlinear stochastic systems with unknown parameters, unknown nonlinear functions and stochastic disturbances. The new controller of adaptive neural…
Control-based continuation (CBC) is a general and systematic method to explore the dynamic response of a physical system and perform bifurcation analysis directly during experimental tests. Although CBC has been successfully demonstrated on…
Autonomous robots that rely on deep neural network controllers pose critical challenges for safety prediction, especially under partial observability and distribution shift. Traditional model-based verification techniques are limited in…
The underwater environment poses a complex problem for developing autonomous capabilities for Underwater Vehicle Manipulator Systems (UVMSs). The modeling of UVMSs is a complicated and costly process due to the highly nonlinear dynamics and…
Owing to uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots like spherical robots cannot function effectively on multiple terrains, especially uneven and unknown ones. Since this is a…
This paper presents a sample-efficient data-driven method to design model predictive control (MPC) for cable-actuated soft robotics using Bayesian optimization. Instead of modeling the complex dynamics of the soft robots, the proposed…
Conditional visual generation has witnessed remarkable progress with the advent of diffusion models (DMs), especially in tasks like control-to-image generation. However, challenges such as expensive computational cost, high inference…
Multimodal large language models (MLLMs) have achieved remarkable success in general perception, yet complex multi-step visual reasoning remains a persistent challenge. Although recent agentic approaches incorporate tool use, they often…
Successfully addressing a wide variety of tasks is a core ability of autonomous agents, requiring flexibly adapting the underlying decision-making strategies and, as we argue in this work, also adapting the perception modules. An analogical…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
Reliable pipeline inspection is critical to safe energy transportation, but is constrained by long distances, complex terrain, and risks to human inspectors. Unmanned aerial vehicles provide a flexible sensing platform, yet reliable…
As unmanned systems such as Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) become increasingly important to applications like urban sensing and emergency response, efficiently recruiting these autonomous devices to…
Visuomotor control (VMC) is an effective means of achieving basic manipulation tasks such as pushing or pick-and-place from raw images. Conditioning VMC on desired goal states is a promising way of achieving versatile skill primitives.…