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Full-Text Articles in Controls and Control Theory
Controlled Manipulation And Transport By Microswimmers In Stokes Flows, Jake Buzhardt
Controlled Manipulation And Transport By Microswimmers In Stokes Flows, Jake Buzhardt
All Dissertations
Remotely actuated microscale swimming robots have the potential to revolutionize many aspects of biomedicine. However, for the longterm goals of this field of research to be achievable, it is necessary to develop modelling, simulation, and control strategies which effectively and efficiently account for not only the motion of individual swimmers, but also the complex interactions of such swimmers with their environment including other nearby swimmers, boundaries, other cargo and passive particles, and the fluid medium itself. The aim of this thesis is to study these problems in simulation from the perspective of controls and dynamical systems, with a particular focus …
Safe Navigation Of Quadruped Robots Using Density Functions, Andrew Zheng
Safe Navigation Of Quadruped Robots Using Density Functions, Andrew Zheng
All Theses
Safe navigation of mission-critical systems is of utmost importance in many modern autonomous applications. Over the past decades, the approach to the problem has consisted of using probabilistic methods, such as sample-based planners, to generate feasible, safe solutions to the navigation problem. However, these methods use iterative safety checks to guarantee the safety of the system, which can become quite complex. The navigation problem can also be solved in feedback form using potential field methods. Navigation function, a class of potential field methods, is an analytical control design to give almost everywhere convergence properties, but under certain topological constraints and …
Multi-Robot Symbolic Task And Motion Planning Leveraging Human Trust Models: Theory And Applications, Huanfei Zheng
Multi-Robot Symbolic Task And Motion Planning Leveraging Human Trust Models: Theory And Applications, Huanfei Zheng
All Dissertations
Multi-robot systems (MRS) can accomplish more complex tasks with two or more robots and have produced a broad set of applications. The presence of a human operator in an MRS can guarantee the safety of the task performing, but the human operators can be subject to heavier stress and cognitive workload in collaboration with the MRS than the single robot. It is significant for the MRS to have the provable correct task and motion planning solution for a complex task. That can reduce the human workload during supervising the task and improve the reliability of human-MRS collaboration. This dissertation relies …