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In this paper we focus on developing a control algorithm for multi-terrain tracked robots with flippers using a reinforcement learning (RL) approach. The work is based on the deep deterministic policy gradient (DDPG) algorithm, proven to be…
This paper proposes a new control framework for manipulating soft objects. A Deep Reinforcement Learning (DRL) approach is used to make the shape of a deformable object reach a set of desired points by controlling a robotic arm which…
Bipedal locomotion is a key challenge in robotics, particularly for robots like Bolt, which have a point-foot design. This study explores the control of such underactuated robots using constrained reinforcement learning, addressing their…
A density-based topology optimization framework is developed to manipulate characteristic modes of conducting surfaces. The adjoint sensitivity analysis provides an efficient computation of the material gradient utilized by the local…
Studies that broaden drone applications into complex tasks require a stable control framework. Recently, deep reinforcement learning (RL) algorithms have been exploited in many studies for robot control to accomplish complex tasks.…
Robotic manipulation behavior should be robust to disturbances that violate high-level task-structure. Such robustness can be achieved by constantly monitoring the environment to observe the discrete high-level state of the task. This is…
Developing robust locomotion controllers for bipedal robots with closed kinematic chains presents unique challenges, particularly since most reinforcement learning (RL) approaches simplify these parallel mechanisms into serial models during…
Motivated by the challenging formation stabilization problem for mobile robotic teams when no distance or relative displacement measurements are available and each robot can only measure some of those angles formed by rays towards its…
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…
This paper investigates the resilient control, analysis, recovery, and operation of mobile robot networks in time-varying formation tracking under deception attacks on global positioning. Local and global tracking control algorithms are…
While the deployment of deep learning models on edge devices is increasing, these models often lack robustness when faced with dynamic changes in sensed data. This can be attributed to sensor drift, or variations in the data compared to…
In decentralized optimization over networks, each node in the network has a portion of the global objective function and the aim is to collectively optimize this function. Gradient tracking methods have emerged as a popular alternative for…
Wireless communication-based multi-robot systems open the door to cyberattacks that can disrupt safety and performance of collaborative robots. The physical channel supporting inter-robot communication offers an attractive opportunity to…
Deep neural networks have achieved impressive performance on a variety of tasks, but their brittleness to distributional shifts remains a significant barrier to real-world deployment. In this paper, we propose a framework to analyse and…
The autonomous operation of flexible-wing aircraft is technically challenging and has never been presented within literature. The lack of an exact modeling framework is due to the complex nonlinear aerodynamic relationships governed by the…
Learning robust and generalizable world models is crucial for enabling efficient and scalable robotic control in real-world environments. In this work, we introduce a novel framework for learning world models that accurately capture…
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control barrier functions in order to ensure that the multi-robot…
Unknown dynamic load carrying is one important practical application for quadruped robots. Such a problem is non-trivial, posing three major challenges in quadruped locomotion control. First, how to model or represent the dynamics of the…
This paper presents a novel planning method that achieves navigation of multi-robot formations in cluttered environments, while maintaining the formation throughout the robots motion. The method utilises a decentralised approach to find…
Robotic grasping, the ability of robots to reliably secure and manipulate objects of varying shapes, sizes and orientations, is a complex task that requires precise perception and control. Deep neural networks have shown remarkable success…