相关论文: Efficient Optimization-based Cable Force Allocatio…

A hierarchical control architecture is presented for energy-efficient control of legged robots subject to variety of linear/nonlinear inequality constraints such as Coulomb friction cones, switching unilateral contacts, actuator saturation…

This paper presents a framework for aerial manipulation of an extensible cable that combines a high-fidelity model based on partial differential equations (PDEs) with a reduced-order representation suitable for real-time control. The PDEs…

We propose a protocol optimization technique that is applicable to both weighted or unweighted graphs. Our aim is to explore by how much a small variation around the Shortest Path or Optimal Path protocols can enhance protocol performance.…

Tilt-rotor aerial robots are more dynamic and versatile than fixed-rotor platforms, since the thrust vector and body orientation are decoupled. However, the coordination of servos and propellers (the allocation problem) is not trivial,…

Torque-driven microscale swimming robots, or microrotors, hold significant potential in biomedical applications such as targeted drug delivery, minimally invasive surgery, and micromanipulation. This paper addresses the challenge of…

Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…

The interaction and collaboration between humans and multiple robots represent a novel field of research known as human multi-robot systems. Adequately designed systems within this field allow teams composed of both humans and robots to…

When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between objectives is not easily obtainable. A common technique across…

Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…

Robotic systems are routinely used in the logistics industry to enhance operational efficiency, but the design of robot workspaces remains a complex and manual task, which limits the system's flexibility to changing demands. This paper aims…

The massive scale of future wireless networks will create computational bottlenecks in performance optimization. In this paper, we study the problem of connecting mobile traffic to Cloud RAN (C-RAN) stations. To balance station load, we…

Improving the powertrain control of heavy-duty vehicles can be an efficient way to reduce the fuel consumption and thereby reduce both the operating cost and the environmental impact. One way of doing so is by using information about the…

Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in robotics, it is crucial to solve these large and…

This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…

This work proposes a strategy for organising quadrotors around a payload to enable hovering without external stimuli, together with a MATLAB software for modelling the dynamics of a quadrotor-payload system. Based on geometric concepts, the…

Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…

This paper presents a multi-contact approach to generalized humanoid fall mitigation planning that unifies inertial shaping, protective stepping, and hand contact strategies. The planner optimizes both the contact sequence and the robot…

We study the computational complexity of optimally solving multi-robot path planning problems on planar graphs. For four common time- and distance-based objectives, we show that the associated path optimization problems for multiple robots…

As electric vehicle (EV) adoption is growing year after year, there is no doubt that EVs will occupy a significant portion of transporting vehicle in the near future. Although EVs have benefits for environment, large amount of…

This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…