相关论文: Control and Navigation of a 2-D Electric Rocket

We study the controllability of a linear KdV-Schr{\"o}dinger equation on the one-dimensional torus via purely imaginary bilinear controls. Considering controls spanning a suitable finite number of Fourier modes, we prove small-time global…

This paper proposes an integrated architecture for Thrust Vector Control (TVC) and state estimation for low-cost small-scale launchers, naturally unstable, and propelled by a solid motor. The architecture is based on a non-linear,…

We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle…

The safety and security of robotic systems are paramount when navigating around a hostile target. This paper addresses the problem of circumnavigating an unknown target by a unicycle robot while ensuring it maintains a desired safe distance…

The paper focuses on the kinematics control of a compliant serial manipulator composed of a new type of dualtriangle elastic segments. Some useful optimization techniques were applied to solve the geometric redundancy problem, ensure the…

This paper presents a layered control approach for real-time trajectory planning and control of robust cooperative locomotion by two holonomically constrained quadrupedal robots. A novel interconnected network of reduced-order models, based…

Mobile robotic systems are becoming increasingly popular. These systems are used in various indoor applications, raging from warehousing and manufacturing to test benches for assessment of advanced control strategies, such as artificial…

This paper introduces a framework to systematically optimize the control and design of an electric vehicle transmission, connecting powertrain sizing studies to detailed gearbox design methods. To this end, we first create analytical models…

In this paper, we systematically derive a finite set of Koopman based observables to construct a lifted linear state space model that describes the rigid body dynamics based on the dual quaternion representation. In general, the Koopman…

The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…

This work focuses on the main challenges and problems in developing a virtual oceanic environment reproducing real experiments using Unmanned Surface Vehicles (USV) digital twins. We introduce the key features for building virtual worlds,…

To avoid complex constraints of the traditional nonlinear method for tethered space robot (TSR) deployment, this paper proposes a data-driven optimal control framework with an improved deep learning based Koopman operator that could be…

This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…

A Model Predictive Controller for Tracking is introduced for rendezvous with non-cooperative tumbling targets in active debris removal applications. The target's three-dimensional non-periodic rotational dynamics as well as other state and…

In this paper, we propose a map-based end-to-end DRL approach for three-dimensional (3D) obstacle avoidance in a partially observed environment, which is applied to achieve autonomous navigation for an indoor mobile robot using a depth…

This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…

Robot navigation requires an autonomy pipeline that is robust to environmental changes and effective in varying conditions. Teach and Repeat (T&R) navigation has shown high performance in autonomous repeated tasks under challenging…

This paper investigates the position-tracking control problem for fixed-wing unmanned aerial vehicles (UAVs) equipped with a turbojet engine via an integrated flight and propulsion control scheme. To this end, a hierarchical control…

In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…

While much work has been done recently in the realm of model-based control of soft robots and soft-rigid hybrids, most works examine robots that have an inherently serial structure. While these systems have been prevalent in the literature,…