5 accepted papers
Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, i.e., controlling the contact forces while moving. For robots, the most widely explored appro…
This letter presents guarantees to satisfy resilience on the communication network of robot formations. In these resilient networks, cooperative robots can achieve consensus in the presence of faulty or malicious robots. We propose a design framework on triangular and square lattices, providing an u
We present a method that enables resilient formation control for mobile robot teams in the presence of noncooperative (defective or malicious) robots. Recent results in network science define graph topological properties that guarantee resilience against faults and attacks on individual nodes in sta
In this paper, we propose a motion planning method to escort a set of agents from one place to a goal in an environment with obstacles. The agents are distributed in a finite area, with a time-varying perimeter, in which we put multiple robots to patrol around it with a desired velocity. Our proposa
Predicting the behavior of dangerous environmental boundaries, like spreading fire or oil spill, provides relevant information to mitigate the problem or even to support evacuation actions in order to save human or animal lives. In this letter, we present a model that uses a single robot moving arou