[HTML][HTML] Adaptive fixed-time control for uncertain surface vessels with output constraints using barrier Lyapunov function
This paper proposes a fixed-time control for trajectory tracking of a marine surface vessel
with model uncertainties and prescribed position tracking constraints. The vessel tracking is …
with model uncertainties and prescribed position tracking constraints. The vessel tracking is …
[HTML][HTML] The Impact of LiDAR Configuration on Goal-Based Navigation within a Deep Reinforcement Learning Framework
Over the years, deep reinforcement learning (DRL) has shown great potential in mapless
autonomous robot navigation and path planning. These DRL methods rely on robots equipped …
autonomous robot navigation and path planning. These DRL methods rely on robots equipped …
Model-free safety critical model predictive control for mobile robot in dynamic environments
Within the context of Nonlinear Model Predictive Control (NMPC) design for autonomous
mobile robots, which face challenges such as parametric uncertainty and measurement …
mobile robots, which face challenges such as parametric uncertainty and measurement …
A Twin Delayed Deep Deterministic Policy Gradient Algorithm for Autonomous Ground Vehicle Navigation via Digital Twin Perception Awareness
…, Y Sun, J Close, NM Nhat, S McIlvanna�- arXiv preprint arXiv�…, 2024 - arxiv.org
Autonomous ground vehicle (UGV) navigation has the potential to revolutionize the transportation
system by increasing accessibility to disabled people, ensure safety and convenience …
system by increasing accessibility to disabled people, ensure safety and convenience …
Parameter Prediction of Control Barrier Function Parameters for Robotic Manipulator Obstacle Avoidance
In this paper we present the implementation of a Control Barrier Function (CBF) safety filter
that provides obstacle avoidance for a robotic manipulator arm system in a simulated …
that provides obstacle avoidance for a robotic manipulator arm system in a simulated …
Real-Time Reconfiguration and Connectivity Maintenance for AUVs Network Under External Disturbances using Distributed Nonlinear Model Predictive Control
NM Nguyen, S McIlvanna, J Close, M Van�- arXiv preprint arXiv�…, 2024 - arxiv.org
Advancements in underwater vehicle technology have significantly expanded the potential
scope for deploying autonomous or remotely operated underwater vehicles in novel practical …
scope for deploying autonomous or remotely operated underwater vehicles in novel practical …
Safety-critical model predictive control with control barrier function for dynamic obstacle avoidance
In this paper, a safety critical control scheme for a nonholonomic robot is developed to generate
control signals that result in optimal obstacle-free paths through dynamic environments. …
control signals that result in optimal obstacle-free paths through dynamic environments. …
Fixed-time Adaptive Neural Control for Physical Human-Robot Collaboration with Time-Varying Workspace Constraints
Physical human-robot collaboration (pHRC) requires both compliance and safety guarantees
since robots coordinate with human actions in a shared workspace. This paper presents a …
since robots coordinate with human actions in a shared workspace. This paper presents a …
Reinforcement learning-enhanced control barrier functions for robot manipulators
In this paper we present the implementation of a Control Barrier Function (CBF) using a
quadratic program (QP) formulation that provides obstacle avoidance for a robotic manipulator …
quadratic program (QP) formulation that provides obstacle avoidance for a robotic manipulator …
Adaptive admittance control for safety-critical physical human robot collaboration
Physical human-robot collaboration requires strict safety guarantees, due to the fact that robots
and humans work in a shared workspace. This paper presents a novel control framework …
and humans work in a shared workspace. This paper presents a novel control framework …