4 accepted papers
We address the problem of stable and robust control of vehicles with lateral error dynamics for the application of lane keeping. Lane departure is the primary reason for half of the fatalities in road accidents, making the development of stable, adaptive and robust controllers a necessity. Any distu
In this paper, we address the problem of system identification and control of a front-steered vehicle which abides by the Ackermann geometry constraints. This problem arises naturally for on-road and off-road vehicles that require reliable system identification and basic feedback controllers for var…
In this paper, we consider two coupled problems for distributed multi-robot systems (MRSs) coordinating with on-board sensors: emph{rejection of sensor attacks and adaptive tuning of interaction gains}. First, MRSs with on-board sensors can be more susceptible to sensor attacks, and therefore must b
In this paper, we address the problem of optimal topology selection for stable coordination of multi-robot systems with asymmetric interactions. This problem arises naturally for multi-robot systems that interact based on sensing, e.g., with limited field of view (FOV) cameras. From our previous eff…