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A novel safety-aware energy tank formulation based on control barrier functions
In this work, we propose a novel formulation for energy tanks based on Control Barrier
Functions (CBF). Our approach is able to handle simultaneously energy constraints to …
Functions (CBF). Our approach is able to handle simultaneously energy constraints to …
Passivity and control barrier functions: Optimizing the use of energy
Passivity-based control ensures the implementation of a desired behavior in a controlled
system, while preserving robust stability. In this letter, we propose a new method to …
system, while preserving robust stability. In this letter, we propose a new method to …
An optimization approach for a robust and flexible control in collaborative applications
In Human-Robot Collaboration, the robot operates in a highly dynamic environment. Thus, it
is pivotal to guarantee the robust stability of the system during the interaction but also a high …
is pivotal to guarantee the robust stability of the system during the interaction but also a high …
Energy autonomy for robot systems with constrained resources
One of the key factors for extended autonomy and resilience of battery-powered multirobot
systems is their ability to maintain energy sufficiency by recharging when needed. In …
systems is their ability to maintain energy sufficiency by recharging when needed. In …
Passivity-preserving safety-critical control using control barrier functions
In this letter we propose a holistic analysis merging the techniques of passivity-based control
(PBC) and control barrier functions (CBF). We constructively find conditions under which …
(PBC) and control barrier functions (CBF). We constructively find conditions under which …
Coordination of robot teams over long distances: From Georgia tech to Tokyo tech and back-an 11,000-km multirobot experiment
One reason why multirobot systems are preferred, in some contexts, over their single-robot
counterparts is that they admit a larger spatial footprint. With multiple robots, it is possible to …
counterparts is that they admit a larger spatial footprint. With multiple robots, it is possible to …
Optimization-Based Controllers for Passivity and Safety Constraints
Though historically regarded as unrelated concepts, passivity-based control (PBC) and
control barrier functions (CBFs) are methods used to establish the safety of control systems …
control barrier functions (CBFs) are methods used to establish the safety of control systems …
Stable, Safe, and Passive Teleoperation of Multi-Robot Systems
In this paper, we present a unified framework to ensure the stability, safety, and passivity of a
multi-robot teleoperation system in a holistic fashion. The proposed approach consists of …
multi-robot teleoperation system in a holistic fashion. The proposed approach consists of …
A safety and passivity filter for robot teleoperation systems
In this paper, we present a way of enforcing safety and passivity properties of robot
teleoperation systems, where a human operator interacts with a dynamical system modeling …
teleoperation systems, where a human operator interacts with a dynamical system modeling …
Reinforcement learning based distributed control of dissipative networked systems
We consider the problem of designing distributed controllers to stabilize a class of
networked systems, where each subsystem is dissipative and designs a reinforcement …
networked systems, where each subsystem is dissipative and designs a reinforcement …