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09/11/2023
MAPS^2: Multi-Robot Anytime Motion Planning under Signal Temporal Logic Specifications
This article presents MAPS^2 : a distributed algorithm that allows multi...
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07/31/2023
Kinodynamic Motion Planning via Funnel Control for Underactuated Unmanned Surface Vehicles
We develop an algorithm to control an underactuated unmanned surface veh...
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07/12/2023
Reactive and human-in-the-loop planning and control of multi-robot systems under LTL specifications in dynamic environments
This paper investigates the planning and control problems for multi-robo...
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04/03/2023
Prediction-Based Leader-Follower Rendezvous Model Predictive Control with Robustness to Communication Losses
In this paper we propose a novel distributed model predictive control (D...
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08/24/2022
A Consistency Constraint-Based Approach to Coupled State Constraints in Distributed Model Predictive Control
In this paper, we present a distributed model predictive control (DMPC) ...
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04/25/2022
Planning and Control of Multi-Robot-Object Systems under Temporal Logic Tasks and Uncertain Dynamics
We develop an algorithm for the motion and task planning of a system com...
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02/22/2022
Event-Triggered Tracking Control of Networked Multi-Agent Systems
This paper studies the tracking control problem of networked multi-agent...
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09/15/2021
Enhancing Data-Driven Reachability Analysis using Temporal Logic Side Information
This paper presents algorithms for performing data-driven reachability a...
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08/30/2021
Reactive and Risk-Aware Control for Signal Temporal Logic
The deployment of autonomous systems in uncertain and dynamic environmen...
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08/02/2021
2-D Directed Formation Control Based on Bipolar Coordinates
This work proposes a novel 2-D formation control scheme for acyclic tria...
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04/24/2021
KDF: Kinodynamic Motion Planning via Geometric Sampling-based Algorithms and Funnel Control
We integrate sampling-based planning techniques with funnel-based feedba...
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03/16/2021
Distributed motion coordination for multi-robot systems under LTL specifications
This paper investigates the online motion coordination problem for a gro...
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03/10/2021
Signal Temporal Logic Task Decomposition via Convex Optimization
In this paper we focus on the problem of decomposing a global Signal Tem...
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02/04/2021
Obstacle Avoidance via Hybrid Feedback
In this paper we present a hybrid feedback approach to solve the navigat...
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02/04/2021
Barrier Function-based Collaborative Control of Multiple Robots under Signal Temporal Logic Tasks
Motivated by the recent interest in cyber-physical and autonomous roboti...
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11/08/2020
Learning Hybrid Control Barrier Functions from Data
Motivated by the lack of systematic tools to obtain safe control laws fo...
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11/03/2020
Safe, Passive Control for Mechanical Systems with Application to Physical Human-Robot Interactions
In this paper, we propose a novel safe, passive, and robust control law ...
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09/04/2020
Provably Safe Control of Lagrangian Systems in Obstacle-Scattered Environments
We propose a hybrid feedback control law that guarantees both safety and...
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05/26/2020
Adaptive Robot Navigation with Collision Avoidance subject to 2nd-order Uncertain Dynamics
This paper considers the problem of robot motion planning in a workspace...
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04/22/2020
A fully distributed motion coordination strategy for multi-robot systems with local information
This paper investigates the online motion coordination problem for a gro...
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04/07/2020
Learning Control Barrier Functions from Expert Demonstrations
Inspired by the success of imitation and inverse reinforcement learning ...
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03/16/2020
Active Depth Estimation: Stability Analysis and its Applications
Recovering the 3D structure of the surrounding environment is an essenti...
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11/04/2019
Cooperative Manipulation via Internal Force Regulation: A Rigidity Theory Perspective
This paper considers the integration of rigid cooperative manipulation w...
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08/27/2019
Robust Trajectory Tracking Control for Underactuated Autonomous Underwater Vehicles
Motion control of underwater robotic vehicles is a demanding task with g...
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08/01/2019
A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision
The 3D depth estimation and relative pose estimation problem within a de...
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04/29/2019
Consensus Control for Leader-follower Multi-agent Systems under Prescribed Performance Guarantees
This paper addresses the problem of distributed control for leader-follo...
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08/14/2018
Motion Feasibility Conditions for Multi-Agent Control Systems on Lie Groups
We study motion feasibility conditions of decentralized multi-agent cont...
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03/21/2018
Communication-based Decentralized Cooperative Object Transportation Using Nonlinear Model Predictive Control
This paper addresses the problem of cooperative transportation of an obj...
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03/05/2018
Motion and Cooperative Transportation Planning for Multi-Agent Systems under Temporal Logic Formulas
This paper presents a hybrid control framework for the motion planning o...
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02/19/2018
Human-in-the-Loop Mixed-Initiative Control under Temporal Tasks
This paper considers the motion control and task planning problem of mob...
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10/30/2017