42 citations · 73 across the 8 of their papers we have counts for
9 papers
Self-Healing First-Order Distributed Optimization with Packet Loss
Israel L. Donato Ridgley, Randy A. Freeman, Kevin M. Lynch
We describe SH-SVL, a parameterized family of first-order distributed optimization algorithms that enable a network of agents to collaboratively calculate a decision variable that…
Human-Multirobot Collaborative Mobile Manipulation: the Omnid Mocobots
Matthew L. Elwin, Billie Strong, Randy A. Freeman +1
The Omnid human-collaborative mobile manipulators are an experimental platform for testing control architectures for autonomous and human-collaborative multirobot mobile manipulati…
Self-Healing First-Order Distributed Optimization
Israel L. Donato Ridgley, Randy A. Freeman, Kevin M. Lynch
In this paper we describe a parameterized family of first-order distributed optimization algorithms that enable a network of agents to collaboratively calculate a decision variable…
Robotic Contact Juggling
J. Zachary Woodruff, Kevin M. Lynch
We define "robotic contact juggling" to be the purposeful control of the motion of a three-dimensional smooth object as it rolls freely on a motion-controlled robot manipulator, or…
A Topological Approach to Gait Generation for Biped Robots
Nelson Rosa, Kevin M. Lynch
This paper describes a topological approach to generating families of open- and closed-loop walking gaits for underactuated 2D and 3D biped walkers subject to configuration inequal…
In-hand Sliding Regrasp with Spring-Sliding Compliance
Jian Shi, Kevin M. Lynch
We investigate in-hand regrasping by pushing an object against an external constraint and allowing sliding at the fingertips. Each fingertip is modeled as attached to a multidimens…
The Soft Landing Problem: Minimizing Energy Loss by a Legged Robot Impacting Yielding Terrain
Daniel J. Lynch, Kevin M. Lynch, Paul B. Umbanhowar
Enabling robots to walk and run on yielding terrain is increasingly vital to endeavors ranging from disaster response to extraterrestrial exploration. While dynamic legged locomoti…
Distributed Fault Detection and Accommodation in Dynamic Average Consensus
Jemin George, Matthew L. Elwin, Randy A. Freeman +1
This paper presents the formulation of fault detection and accommodation schemes for a network of autonomous agents running internal model-based dynamic average consensus algorithm…
Tutorial on dynamic average consensus: the problem, its applications, and the algorithms
Solmaz S. Kia, Bryan Van Scoy, Jorge Cortes +3
This paper considers the problem of dynamic average consensus algorithm design for a group of communicating agents. This problem consists of designing a distributed algorithm that…