Interactive Multi-Modal Motion Planning With Branch Model Predictive Control

Article Robotics

Representation-Free Model Predictive Control for Dynamic Motions in Quadrupeds

Yanran Ding et al.

Summary: This article introduces a novel representation-free model predictive control framework for controlling dynamic motions of a quadrupedal robot in three-dimensional space. The controller can operate at real-time rates of 250 Hz and stabilize dynamic motions that involve singularity in 3-D maneuvers.

IEEE TRANSACTIONS ON ROBOTICS (2021)

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Proceedings Paper Automation & Control Systems

Verifying Safe Transitions between Dynamic Motion Primitives on Legged Robots

Wyatt Ubellacker et al.

Summary: This paper formalizes a process to determine dynamic-state aware conditions for transitions between motion primitives in the context of safety, resulting in a motion primitive graph that can be traversed by standard graph search and planning algorithms to achieve functional autonomy. Dynamic motion primitives and transitions between them are experimentally realized on a quadrupedal robot to demonstrate the framework.

2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) (2021)

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Article Automation & Control Systems

A Robust Scenario MPC Approach for Uncertain Multi-Modal Obstacles

Ivo Batkovic et al.

Summary: The letter presents a control scheme based on Model Predictive Control (MPC) with robust constraint satisfaction for autonomous vehicles, combining ideas from tube-based and scenario-based MPC strategies. The proposed approach is effective in ensuring safe motion planning and control algorithms for autonomous vehicles.

IEEE CONTROL SYSTEMS LETTERS (2021)

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Article Automation & Control Systems

Guaranteed Obstacle Avoidance for Multi-Robot Operations With Limited Actuation: A Control Barrier Function Approach

Yuxiao Chen et al.

Summary: This research addresses the issue of obstacle avoidance for multiple robotic agents in an environment with obstacles, and proposes a decentralized supervisory controller method based on control barrier functions to ensure all robots can successfully avoid obstacles. The approach is applicable to various nonlinear robot dynamics and scalable to multiple robots, without requiring communication between the robots.

IEEE CONTROL SYSTEMS LETTERS (2021)

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Article Automation & Control Systems