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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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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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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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10/11/2021
Non-Parametric Neuro-Adaptive Coordination of Multi-Agent Systems
We develop a learning-based algorithm for the distributed formation cont...
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09/14/2021
Deceptive Decision-Making Under Uncertainty
We study the design of autonomous agents that are capable of deceiving o...
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06/25/2021
Non-Parametric Neuro-Adaptive Control Subject to Task Specifications
We develop a learning-based algorithm for the control of robotic systems...
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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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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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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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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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10/30/2017
