ARL

 
 

Agile robotic micro-vehicles are envisioned to work cooperatively in small groups to provide real-time situational awareness in uncertain adversarial environments, and keep troops out of harm’s way.

Publications


  1. •A Switching Kinematic Model of an Octapedal Robot.  IEEE/RSJ IROS. (2012)

  2. •Stochastic receding horizon control for robots with probabilistic state constraints. IEEE ICRA. pp. 2893 - 2898  (2012)

  3. •Model Predictive Navigation for Position and Orientation Control of Nonholonomic Vehicles. IEEE ICRA.  pp 3206 - 3211 (2012)

  4. •Stochastic receding horizon control for robots with probabilistic state constraints. IEEE IICRA. pp. 2893 - 2898  (2012)

  5. •Control of nonholonomic systems using reference vector fields.  IEEE CDC 2011 pp. 2831-2836

  6. •Probability of success in stochastic robot navigation with state feedback. IEEE/RSJ IROS. 2011. pp 3911-3916

  7. •Bounding the uncertainty in nonlinear robust model predictive control using sphere covering.  IEEE MED. (2011)

  8. •Hybrid Potential Field Based Control of Differential Drive Mobile Robots.  Journal of Intelligent & Robotic Systems.

  9. •Nonholonomic control design via reference vector fields and output regulation. ASME Journal of Dynamical Systems, Measurement and Control. (2015)

  10. •Dipole-like fields for stabilization of systems with Pfaffian constraints.  IEEE ICRA, 2010 pp 4499 - 4504

  11. •Randomized Receding Horizon Navigation. IEEE TAC, 55(1): 2640-2644 (2010).

  12. • Relaxed stability conditions for switched systems with dwell time.  Asian Journal of Control. (2014)

  13. •Randomized Model Predictive Control for Robot Navigation.  IEEE ICRA, 2009 pp. 94-99.

  14. •A navigation and control strategy for miniature legged robots.  IEEE Transactions on Robotics. (2017)

  15. •Resilience through learning in multi-agent cyber-physical systems.  Frontiers in Robotics and AI. (2017)

  16. •Probabilistically valid stochastic extensions of deterministic models for systems with uncertainty. International Journal of Robotics Research. (2015)

  17. •Optimal navigation for vehicles with stochastic dynamics. IEEE Transactions on Control Systems Technology. (2015)

  18. •A template candidate for miniature legged robots in quasi-static motion. Autonomous Robots. (2015)

  19. •Stochastic behavior of robots that navigate by interacting with their environment.  IEEE CDC (2016).

  20. •Incorporating learning modules improves the resilient design of supervisory cyber-physical systems. IEEE MED (2016).

  21. •Navigation of miniature legged robots using a new template. IEEE MED (2015).

  22. •Dynamics-compatible potential fields using stochastic perturbations.  IEEE MED (2015)

  23. •An open-source passively sprawling miniature legged robot. IEEE ICRA (2015)

  24. •Control of stochastic unicycle-type robots. IEEE ICRA (2015).

  25. •Planning with the STAR(s). IEEE ICRA (2015).

  26. •Hierarchical control via simulations relations and feedback linearization. IEEE ACC (2013).

  27. •Probabilistic validation of a stochastic kinematic model for an eight-legged robot. IEEE ICRA (2013)

  28. •Stochastic receding horizon navigation: application to an octapedal robot. SPIE Defense, Security and Sensing. (2013).

  29. •Experimental validation of a template for navigation of miniature legged robots. ISER (2015).