相关论文: An Iterative Algorithm to Symbolically Derive Gene…

Finite-state models of control systems were proposed by several researchers as a convenient mechanism to synthesize controllers enforcing complex specifications. Most techniques for the construction of such symbolic models have two main…

We consider the problem of cooperative motion coordination for multiple heterogeneous mobile vehicles subject to various constraints. These include nonholonomic motion constraints, constant speed constraints, holonomic coordination…

Reinforcement learning techniques can provide substantial insights into the desired behaviors of future autonomous driving systems. By optimizing for societal metrics of traffic such as increased throughput and reduced energy consumption,…

Nonholonomic constraints restrict feasible velocities without reducing configuration-space dimension, which makes collision-free geometric paths generally non-executable for car-like robots. Ackermann steering further imposes curvature…

Forecasting the motion of surrounding obstacles (vehicles, bicycles, pedestrians and etc.) benefits the on-road motion planning for intelligent and autonomous vehicles. Complex scenes always yield great challenges in modeling the patterns…

The paper is concerned with mechanical systems which are controlled by implementing a number of time-dependent, frictionless holonomic constraints. The main novelty is due to the presence of additional non-holonomic constraints. We develop…

In spite of the recent interest and advances in linear controllability of complex networks, controlling nonlinear network dynamics remains to be an outstanding problem. We develop an experimentally feasible control framework for nonlinear…

Articulated objects like doors, drawers, valves, and tools are pervasive in our everyday unstructured dynamic environments. Articulation models describe the joint nature between the different parts of an articulated object. As most of these…

Symbolic models are abstract descriptions of continuous systems in which symbols represent aggregates of continuous states. In the last few years there has been a growing interest in the use of symbolic models as a tool for mitigating…

The task of maneuvering a multi-steered articulated vehicle in confined environments is difficult even for experienced drivers. In this work, we present an optimization-based trajectory planner targeting low-speed maneuvers in unstructured…

Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and…

While linear systems are well-understood, no explicit solution for general nonlinear systems exists. A classical approach to make the understanding of linear system available in the nonlinear setting is to represent a nonlinear system by a…

Recent works in the robot learning community have successfully introduced generalist models capable of controlling various robot embodiments across a wide range of tasks, such as navigation and locomotion. However, achieving agile control,…

Controlled transitions between a hierarchy of n-scroll attractors are investigated in a nonlinear optoelectronic oscillator. Using the system's feedback strength as a control parameter, it is shown experimentally the transition from Van der…

Understanding the dynamics of truck volumes and activities across the skeleton traffic network is pivotal for effective traffic planning, traffic management, sustainability analysis, and policy making. Yet, relying solely on average annual…

This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…

In this paper, we propose, discuss, and validate an online Nonlinear Model Predictive Control (NMPC) method for multi-rotor aerial systems with arbitrarily positioned and oriented rotors which simultaneously addresses the local reference…

For the autonomous operation of articulated vehicles at distribution centers, accurate positioning of the vehicle is of the utmost importance. Automation of these vehicle poses several challenges, e.g. large swept path, asymmetric steering…

Collaborative transportation of heavy payloads via loco-manipulation is a challenging yet essential capability for legged robots operating in complex, unstructured environments. Centralized planning methods, e.g., holistic trajectory…

Precise trajectory tracking for legged robots can be challenging due to their high degrees of freedom, unmodeled nonlinear dynamics, or random disturbances from the environment. A commonly adopted solution to overcome these challenges is to…