Publications related to A survey on tactical control algorithms for path tracking unmanned surface vehicles

Navigation of Concentric Tube Continuum Robots using Optimal Control

John Maddocks, Siva Prasad Chakri Dhanakoti

Recently developed Concentric Tube Continuum Robots (CTCRs) are widely exploited in, for example in minimally invasive surgeries which involve navigating inside narrow body cavities close to sensitive regions. These CTCRs can be controlled by extending and ...

SCITEPRESS2022

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Aude Billard, Vaibhav Gupta, Diego Felipe Paez Granados

Large efforts have focused on ensuring that the controllers for mobile service robots follow proxemics and other social rules to ensure both safe and socially acceptable distance to pedestrians. Nonetheless, involuntary contact may be unavoidable when the ...

IEEE2022

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Anwar Ahmad Quraishi

Bringing advantages of parallelism and robustness, distributed robotic systems have become an active subject of research since many years. Yet, the progress in that direction with Autonomous Underwater Vehicles (AUVs) has been limited. This project aims at ...

EPFL2021

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

Maryam Kamgarpour, Luca Furieri, Na Li

This paper studies a class of partially observed Linear Quadratic Gaussian (LQG) problems with unknown dynamics. We establish an end-to-end sample complexity bound on learning a robust LQG controller for open-loop stable plants. This is achieved using a ro ...

PMLR2021

Probabilistic Adaptive Control for Robust Behavior Imitation

Sylvain Calinon, Julius Maximilian Jankowski, Hakan Girgin

In the context of learning from demonstration (LfD), trajectory policy representations such as probabilistic movement primitives (ProMPs) allow for rich modeling of demonstrated skills. To reproduce a learned skill with a real robot, a feedback controller ...

IEEE2021

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Alcherio Martinoli, Anwar Ahmad Quraishi

Accurate localization is one of the biggest challenges in underwater robotics. The primary reasons behind that are unavailability of satellite-based positioning below the surface, and lack of clear features in natural water bodies for visually aided locali ...

2021

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Maryam Kamgarpour, Luca Furieri, Na Li

It is known that the set of internally stabilizing controller

\mathcal{C}_{\text{stab}}

is non-convex, but it admits convex characterizations using certain closed-loop maps: a classical result is the {Youla parameterization}, and two recent notions are t ...

2020

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Alcherio Martinoli, Alexander Bahr, Felix Stephan Schill, Anwar Ahmad Quraishi

Water as a medium poses a number of challenges for robots, limiting the progress of research in underwater robotics vis-a-vis ground or aerial robotics. The primary challenges are satellite based positioning and radio communication being unusable due to hi ...

IEEE2019

An Input–Output Parametrization of Stabilizing Controllers: Amidst Youla and System Level Synthesis

Maryam Kamgarpour, Luca Furieri

This letter proposes a novel input-output parametrization of the set of internally stabilizing output-feedback controllers for linear time invariant (LTI) systems. Our underlying idea is to directly treat the closed-loop transfer matrices from disturbances ...

2019

Kernel methods and Model predictive approaches for Learning and Control

Sanket Sanjay Diwale

Data-driven modeling and feedback control play a vital role in several application areas ranging from robotics, control theory, manufacturing to management of assets, financial portfolios and supply chains. Many such problems in one way or another are rela ...

EPFL2019

A survey on tactical control algorithms for path tracking unmanned surface vehicles

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Navigation of Concentric Tube Continuum Robots using Optimal Control

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

Probabilistic Adaptive Control for Robust Behavior Imitation

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

An Input–Output Parametrization of Stabilizing Controllers: Amidst Youla and System Level Synthesis

Kernel methods and Model predictive approaches for Learning and Control

Sample Complexity of Linear Quadratic Gaussian (LQG) Control for Output Feedback Systems

Coordinated Path Planning for Surface Acoustic Beacons for Supporting Underwater Localization

Kernel methods and Model predictive approaches for Learning and Control

Unfreezing Social Navigation: Dynamical Systems based Compliance for Contact Control in Robot Navigation

System-level, Input-output and New Parameterizations of Stabilizing Controllers, and Their Numerical Computation

Cooperative Multi-Robot Systems for Aquatic Environmental Sensing

Probabilistic Adaptive Control for Robust Behavior Imitation

An Input–Output Parametrization of Stabilizing Controllers: Amidst Youla and System Level Synthesis

Easily Deployable Underwater Acoustic Navigation System for Multi-Vehicle Environmental Sampling Applications

Navigation of Concentric Tube Continuum Robots using Optimal Control