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Alexander Lanzon

4 accepted papers

2024

Dynamics-Based Trajectory Planning for Vibration Suppression of a Flexible Long-Reach Robotic Manipulator System

Anthony Siming Chen, Erwin Jose Lopez Pulgarin, Guido Herrmann, Alexander Lanzon, Joaquin Carrasco, Barry Lennox +4
IROS 2024poster

We address the unique challenge of vibration suppression for a flexible long-reach robotic manipulator system, namely, the through-wall deployment (TWD) system that is used in nuclear environments. This paper proposes a novel dynamics-based trajectory optimization approach, which minimizes both the…

Cited by 0Source ↗Scholar ↗
2023

A Negative Imaginary Theory-Based Time-Varying Group Formation Tracking Scheme for Multi-Robot Systems: Applications to Quadcopters

Yu-Hsiang Su, Parijat Bhowmick, Alexander Lanzon
ICRA 2023poster

This paper proposes a new methodology to develop a time-varying group formation tracking scheme for a class of multi-agent systems (e.g. different types of multi-robot systems) utilising Negative Imaginary (NI) theory. It offers a two-loop control scheme in which the inner loop deploys an appropriat…

Cited by 8Source ↗Scholar ↗
2022

Formation-containment tracking and scaling for multiple quadcopters with an application to choke-point navigation

Yu-Hsiang Su, Alexander Lanzon
ICRA 2022poster

This paper investigates the cooperative control problem of choke-point navigation for multiple quadcopters when only their subgroup is equipped with obstacle detecting sensors. We define a quadcopter as a leader if it is equipped with an obstacle detecting sensor; otherwise, it is a follower. In add…

Cited by 11Source ↗Scholar ↗
2020

Cooperative Control of Heterogeneous Connected Vehicle Platoons: An Adaptive Leader-Following Approach

Junyan Hu, Parijat Bhowmick, Farshad Arvin, Alexander Lanzon, Barry Lennox
RA-L 2020

Automatic cruise control of a platoon of multiple connected vehicles in an automated highway system has drawn significant attention of the control practitioners over the past two decades due to its ability to reduce traffic congestion problems, improve traffic throughput and enhance safety of highwa

Cited by 200Source ↗Scholar ↗