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Bio-inspired designs are motivated by efficiency, adaptability and robustness of biological systems dynamic behaviors in complex environment. Despite progress in design, the lack of sensory-motor and learning capabilities is the main drawback of human-like ...
Lightweight, autonomous drones are soon expected to be used in a wide variety of tasks such as aerial surveillance, delivery, or monitoring of existing architectures. A large body of literature in robotic perception and control exists. Existing methods are ...
The extensive use of frequency-domain tools for analyzing and controlling linear systems have become indispensable for the control systems engineer. However, due to the increased performance demands on today's industrial systems, the effects of certain non ...
This paper addresses the trajectory tracking problem of a 2D caged flying robot in contact with a wall. To simplify the contact problem, the models are constructed on a vertical two-dimensional plane, and our objective is to let the quadrotor hover or move ...
The newly emerged and quickly growing science of nanotechnology has been recognized as one of ``the twenty-first century's great leaps forward in scientific knowledge''. Self-assembly provides a powerful enabling technique for nanotechnology by providing a ...
We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute trajectories that satisfy ...
The extensive use of frequency-domain tools for analyzing and controlling linear systems have become indispensable for the control systems engineer. However, due to the increased performance demands on today's industrial systems, the effects of certain non ...
This paper addresses the trajectory tracking problem of a 2D caged flying robot in contact with a wall. To simplify the contact problem, the models are constructed on a vertical two-dimensional plane, and our objective is to let the quadrotor hover or move ...
Within the context of ancillary services for Active Distribution Networks (ADNs), application of intelligent control techniques is required in order to achieve specific operation objectives. Despite their differences, most control mechanisms proposed in th ...
The objective of this dissertation is to develop data-driven frequency-domain methods for designing robust controllers through the use of convex optimization algorithms. Many of today's industrial processes are becoming more complex, and modeling accurate ...
