9 accepted papers
In this work, we address the problem of formal safety verification for stochastic cyber-physical systems (CPS) equipped with ReLU neural network (NN) controllers. Our goal is to find the set of initial states from where, with a predetermined confidence, the system will not reach an unsafe configurat…
Although Harmonic Potential Fields constitute a powerful tool for tackling the autonomous robot exploration problem, yet their applicability is limited by the heavy computational load involved in solving the Laplace equation in real time. In this letter, we propose a computationally efficient explor
In this work, we present a decentralized motion planning and control architecture for the cooperative loading task using heterogeneous robotic agents operating in a cluttered workspace with static obstacles. Initially, we tackle the problem of calculating a set of feasible loading configurations via…
In this work, a hybrid control scheme is presented in order to address the navigation problem for a planar robotic platform of arbitrary shape that is moving inside an obstacle cluttered workspace. Given an initial and desired robot configuration, we propose a methodology based on approximate config…
This paper presents the design of a vision-based object grasping and motion control architecture for a mobile manipulator system. The optimal grasping areas of the object are estimated using the partial point cloud acquired from an onboard RGB-D sensor system. The reach-to-grasp motion of the mobile…
In this letter, we consider the problem of prescribed time scale robot navigation. Initially, we treat the problem for a special class of configuration spaces, namely, sphere worlds, proposing a time-varying control scheme that drives the robot from any initial condition to an arbitrary neighborhood
Artificial Potential Fields (APFs) constitute an intuitive tool for designing autonomous robot navigation control schemes, though they generally suffer from the existence of local minima which may trap the robot away from its desired configuration, an issue usually addressed by appropriate offline “…
This paper addresses the fault tolerant control problem for an omni-directional mobile platform with four mecanum wheels moving on a well-known flat and constrained workspace with static obstacles. As a fault, we consider the case where a wheel cannot be actuated and hence it rotates freely around i
In this work we study the problem of landing a quadrotor on an inclined moving platform. The aerial robot employs an forward looking on-board camera to detect and observe the landing platform, which is carried by a mobile robot moving independently on an inclined surface. The platform may also be ti…