相关论文: Information Control Barrier Functions: Preventing …

Interest in designing, manufacturing, and using autonomous robots has been rapidly growing during the most recent decade. The main motivation for this interest is the wide range of potential applications these autonomous systems can serve…

Cooperative localization is fundamental to autonomous multirobot systems, but most algorithms couple inter-robot communication with observation, making these algorithms susceptible to failures in both communication and observation steps. To…

This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…

Modern nonlinear control theory seeks to develop feedback controllers that endow systems with properties such as safety and stability. The guarantees ensured by these controllers often rely on accurate estimates of the system state for…

This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…

In unconstrained maximum a posteriori (MAP) and maximum likelihood estimation, the inverse of minus the merit-function Hessian matrix is an approximation of the estimate covariance matrix. In the Bayesian context of MAP estimation, it is…

This paper considers the problem of localising a stationary signal source using a team of mobile agents which only take binary measurements. Background false detection rates and missed detection probabilities are incorporated into the…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Recently, there has been a surge of research on a class of methods called feedback optimization. These are methods to steer the state of a control system to an equilibrium that arises as the solution of an optimization problem. Despite the…

Global navigation satellite systems readily provide accurate position information when localizing a robot outdoors. However, an analogous standard solution does not exist yet for mobile robots operating indoors. This paper presents an…

Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…

We propose an active jammer localization framework that combines Bayesian optimization with acquisition-aware path planning. Unlike passive crowdsourced methods, our approach adaptively guides a mobile agent to collect high-utility Received…

This paper presents a strategy for control of a spacecraft docking with a non-maneuvering target in the presence of safety constraints and bounded disturbances. The presence of disturbances prevents convergence to a unique docking state, so…

This paper presents a novel approach for achieving safe stochastic optimal control in networked multi-agent systems (MASs). The proposed method incorporates barrier states (BaSs) into the system dynamics to embed safety constraints. To…

Uncertainty is prevalent in robotics. Due to measurement noise and complex dynamics, we cannot estimate the exact system and environment state. Since conservative motion planners are not guaranteed to find a safe control strategy in a…

In the absence of an absolute positioning system, such as GPS, autonomous vehicles are subject to accumulation of positional error which can interfere with reliable performance. Improved navigational accuracy without GPS enables vehicles to…

This paper aims to improve the performance and positioning accuracy of a robot by using the particle filter method. The laser range information is a wireless navigation system mainly used to measure, position, and control autonomous robots.…

Optimal sensor placement enhances the efficiency of a variety of applications for monitoring dynamical systems. It has been established that deterministic solutions to the sensor placement problem are insufficient due to the many…

The control barrier function (CBF) has become a fundamental tool in safety-critical systems design since its invention. Typically, the quadratic optimization framework is employed to accommodate CBFs, control Lyapunov functions (CLFs),…

This paper introduces an innovative method for ensuring global stability in a broad array of nonlinear systems. The novel approach enhances the traditional analysis based on Jacobian matrices by incorporating the Taylor series boundary…