相关论文: Beacon-Based Feedback Control for Parking an Activ…
Smart-parking solutions use sensors, cameras, and data analysis to improve parking efficiency and reduce traffic congestion. Computer vision-based methods have been used extensively in recent years to tackle the problem of parking lot…
This paper investigates the problem of communication relay establishment for multiple agent-based mobile units using a relay vehicle. The objective is to drive autonomously the relay vehicle to attain a position for communication relay…
This paper presents the use of multi-sensor measurement system to guide autonomous mobile robot in the house. The system allows the 3D image acquisition to global mapping, and algorithms to reduce the dimensionality of images to 2D global…
This paper presents a -- Learning from Demonstration -- method to perform robot movement trajectories that can be defined as you go. This way unstructured tasks can be performed, without the need to know exactly all the tasks and start and…
In this paper, a control algorithm for guiding a two wheeled mobile robot with unknown inertia to a desired point and orientation using an Adaptive Model Predictive Control (AMPC) framework is presented. The two wheeled mobile robot is…
Autonomous robots that are capable of operating safely in the presence of imperfect model knowledge or external disturbances are vital in safety-critical applications. In this paper, we present a planner-agnostic framework to design and…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
With the goal of moving towards implementation of increasingly dynamic behaviors on underactuated systems, this paper presents an optimization-based approach for solving full-body dynamics based controllers on underactuated bipedal robots.…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
This paper investigates the planning and control for accurate positioning of car-like robots. We propose a solution that integrates two modules: a motion planner, facilitated by the rapidly-exploring random tree algorithm and…
This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…
This paper addresses the problem of tracking control for robotic vehicles equipped with pivoted unidirectional actuators. Starting from a baseline robust controller that assumes unconstrained inputs, we redesign the control law to be…
This paper investigates the control problem of steering a group of spherical mobile robots to cooperatively transport a spherical object. By controlling the movements of the robots to exert appropriate contact (pushing) forces, it is…
Modern, torque-controlled service robots can regulate contact forces when interacting with their environment. Model Predictive Control (MPC) is a powerful method to solve the underlying control problem, allowing to plan for whole-body…
In this paper, we establish a decentralized optimal control framework for connected and automated vehicles (CAVs) crossing multiple adjacent, multi-lane signal-free intersections to minimize energy consumption and improve traffic…
As a simple and robust mobile robot base, differential drive robots that can be modelled as a kinematic unicycle find significant applications in logistics and service robotics in both industrial and domestic settings. Safe robot navigation…
Automated driving is an active area of research in both industry and academia. Automated Parking, which is automated driving in a restricted scenario of parking with low speed manoeuvring, is a key enabling product for fully autonomous…
This paper introduces a novel control strategy for agile spacecraft attitude control, addressing reaction wheel-related input and state constraints. An optimal-decay control Lyapunov function quadratic program stabilizes the system and…
This paper studies the problem of controlling a multi-robot system to achieve a polygon formation in a self-organized manner. Different from the typical formation control strategies where robots are steered to satisfy the predefined control…