相关论文: Beacon-Based Feedback Control for Parking an Activ…

Soft and soft-rigid hybrid robots are inherently underactuated and operate under tight actuator limits, making task-space control with stability guarantees challenging. Common nonlinear strategies for soft robots (e.g., those based on PD…

In safety-critical robot planning or control, manually specifying safety constraints or learning them from demonstrations can be challenging. In this article, we propose a certifiable alignment method for a robot to learn a safety…

In this paper, we propose a framework for the longitudinal control of connected and automated vehicles traveling in mixed traffic consisting of connected and non-connected human-driven vehicles. Reactive and predictive controllers are…

This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern deadlock issues and the failure to address dynamic…

Stationary balance control is challenging for single-track two-wheeled (STTW) robots due to the lack of elegant balancing mechanisms and the conflict between the limited attraction domain and external disturbances. To address the absence of…

Obtaining the position of ego-vehicle is a crucial prerequisite for automatic control and path planning in the field of autonomous driving. Most existing positioning systems rely on GPS, RTK, or wireless signals, which are arduous to…

People park their vehicle depending on interior and exterior contexts. They do it naturally, even unconsciously. For instance, with a baby seat on the rear, the driver might leave more space on one side to be able to get the baby out…

As the trend of moving away from high-precision maps gradually emerges in the autonomous driving industry,traditional planning algorithms are gradually exposing some problems. To address the high real-time, high precision, and high…

We study the problem of reducing the amount of communication in decentralized target tracking. We focus on the scenario where a team of robots are allowed to move on the boundary of the environment. Their goal is to seek a formation so as…

We introduce a new class of attitude control laws for rotational systems; the proposed framework generalizes the use of the Euler \mbox{axis--angle} representation beyond quaternion-based formulations. Using basic Lyapunov stability theory…

The problem of regulation of the orientation angle of a remotely controlled differential-drive mobile robot with actuator dynamics and network-induced delays is studied. Using a preinstalled two-layer nonlinear control scheme that decouples…

This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace. Based on the realistic assumptions that each robot is subject to both velocity and input constraints and can have only…

The lack of stability guarantee restricts the practical use of learning-based methods in core control problems in robotics. We develop new methods for learning neural control policies and neural Lyapunov critic functions in the model-free…

Motion planning for autonomous robots in tight, interaction-rich, and mixed human-robot environments is challenging. State-of-the-art methods typically separate prediction and planning, predicting other agents' trajectories first and then…

We propose the concept of Action-Related Place (ARPlace) as a powerful and flexible representation of task-related place in the context of mobile manipulation. ARPlace represents robot base locations not as a single position, but rather as…

With the emerging technologies in Intelligent Transportation System (ITS), the adaptive operation of road space is likely to be realised within decades. An intelligent street can learn and improve its decision-making on the right-of-way…

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…

In this letter, we study the case of autonomous agents which are required to move to some new position based solely on the distance measured from predetermined reference points, or anchors. A novel approach, referred to as…

Motion planning is a crucial aspect of robot autonomy as it involves identifying a feasible motion path to a destination while taking into consideration various constraints, such as input, safety, and performance constraints, without…

We present a viewpoint-based non-linear Model Predictive Control (MPC) for evacuation guiding robots. Specifically, the proposed MPC algorithm enables evacuation guiding robots to track and guide cooperative human targets in emergency…