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Mobile Multi-Robot Navigation under Runtime Uncertainty via Koopman Operator Learning and Nonlinear Model Predictive Control
Xiaobin Zhang, Konstantinos Karydis
In this work, we developed a nonlinear model predictive control (NMPC) framework that employs learned dynamics via the Koopman Operator theory for mobile multi-robot navigation. We…
A Koopman Operator-based NMPC Framework for Mobile Robot Navigation under Uncertainty
Xiaobin Zhang, Mohamed Karim Bouafoura, Lu Shi +1
Mobile robot navigation can be challenged by system uncertainty. For example, ground friction may vary abruptly causing slipping, and noisy sensor data can lead to inaccurate feedb…
OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS)
Liyu Wang, Yuxiang Yang, Gustavo Correa +2
OpenRoACH is a 15-cm 200-gram self-contained hexapedal robot with an onboard single-board computer. To our knowledge, it is the smallest legged robot with the capability of running…