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Multi-Robot Systems

Goal:

Control, Collaboration

Description:

Our goal is to develop new methodologies to control the behaviour of networked robotic systems

Topics:

  • Collective dexterity

  • Task partitioning

  • Formation and consensus

  • Theoretical foundations

Team

Dr Xiaodong Shao

Hui Zhi

Dr Jose G. Romero

Bowen Fan

Bin Zhang

Samantha Lee

Luiza Labazanova

Publications

  • J. G. Romero, E. Nuño, E. Restrepo, and D. Navarro-Alarcon. Output Feedback Consensus-based Formation of Nonholonomic Vehicles with Input Disturbances and Time-Varying Delays. (preprint) [link]

  • X. Shao, B. Zhang, J. G. Romero, B. Fan, Q. Hu, and D. Navarro-Alarcon. Collision-Free Navigation of Wheeled Mobile Robots: An Integrated Path Planning and Tube-Following Control Approach. (preprint) [pdf]

  • B. Zhang, H. Zhi, J. G. Romero, and D. Navarro-Alarcon. Leader-Follower Formation Control of Perturbed Nonholonomic Agents along Parametric Curves with Directed Communication. (preprint) [pdf]

  • J. G. Romero and D. Navarro-Alarcon. Robust Integral Consensus Control of Multi-Agent Networks Perturbed by Matched and Unmatched Disturbances: The Case of Directed Graphs. (preprint) [pdf]

  • H.-Y. Lee, P. Zhou, B. Zhang, L. Qiu, A. Duan, J. Tang, T. L. Lam, and D. Navarro-Alarcon. A Distributed Dynamic Framework to Allocate Collaborative Tasks Based on Capability Matching in Heterogeneous Multi-Robot Systems. IEEE Transactions on Cognitive and Developmental Systems (T-CDS) (in press), 2023. [pdf]

  • B. Zhang, H. Zhi, J. G. Romero, L. Labazanova, A. Duan, X. Li, and D. Navarro-Alarcon. Fourier-Based Multi-Agent Formation Control to Track Evolving Closed Boundaries. IEEE Transactions on Circuits and Systems I: Regulate Papers (T-CAS-I), vol. 70, no. 11, pp. 4549-4559, 2023.  [pdf]

  • L. Labazanova, S. Peng, L. Qiu, H.-Y. Lee, T. Nanayakkara, and D. Navarro-Alarcon. Self-Reconfigurable Soft-Rigid Mobile Agent with Variable Stiffness and Adaptive Morphology. IEEE Robotics and Automation Letters (RA-L), vol. 8, no. 3, pp. 1643-1650, 2023 [pdf]

  • A. Duan, B. Zhang, L. Hu, L. Feng, and , D. Navarro-Alarcon. Balancing Control of Wheeled-Legged Hexapedal Robots for Traversing Rough Terrains, IEEE Int. Conf. Robotics and Biomimetics (ROBIO), 2022 [link]

  • J. G. Romero, D. Navarro-Alarcon, E. Nuno, and H. Que. A Globally Convergent Adaptive Velocity Observer for Nonholonomic Mobile Robots Affected by Unknown Disturbances, IEEE Control Systems Letters (L-CSS), vol. 7, pp. 85-90, 2022. [pdf]

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