106 citations · 168 across the 12 of their papers we have counts for
12 papers
Autonomous robotic bridging using distributed swarm control without inter-agent communication
Vishwaak C. Thamaraiselvan, Cody L. Lundberg, Michail Theofandis +2
We describe SCARAB--Swarm-Capable Autonomous Robotic Aquatic Bridging. Using distributed swarm control and multi-model sensing of agents and docking targets, agents can localize th…
Mechanism and Model of a Soft Robot for Head Stabilization in Cancer Radiation Therapy
Olalekan Ogunmolu, Xinmin Liu, Nicholas Gans +1
We present a parallel robot mechanism and the constitutive laws that govern the deformation of its constituent soft actuators. Our ultimate goal is the real-time motion-correction…
On-Policy Robust Adaptive Discrete-Time Regulator for Passive Unidirectional System using Stochastic Hill-climbing Algorithm and Associated Search Element
Mohsen Jafarzadeh, Nicholas Gans, Yonas Tadesse
Non-linear discrete-time state-feedback regulators are widely used in passive unidirectional systems. Offline system identification is required for tuning parameters of these regul…
Vision-Based Distributed Formation Control of Unmanned Aerial Vehicles
Kaveh Fathian, Emily Doucette, J. Willard Curtis +1
We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboa…
Robust 3D Distributed Formation Control with Application to Quadrotors
Kaveh Fathian, Sleiman Safaoui, Tyler H. Summers +1
We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and…
Robust Distributed Planar Formation Control for Higher-Order Holonomic and Nonholonomic Agents
Kaveh Fathian, Sleiman Safaoui, Tyler H. Summers +1
We present a distributed formation control strategy for agents with a variety of dynamics to achieve a desired planar formation. Our approach is based on the barycentric-coordinate…
Minimax Iterative Dynamic Game: Application to Nonlinear Robot Control Tasks
Olalekan Ogunmolu, Nicholas Gans, Tyler Summers
Multistage decision policies provide useful control strategies in high-dimensional state spaces, particularly in complex control tasks. However, they exhibit weak performance guara…
Quaternion Based Camera Pose Estimation From Matched Feature Points
Kaveh Fathian, J. Pablo Ramirez-Paredes, Emily A. Doucette +2
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the ima…
Soft-NeuroAdapt: A 3-DOF Neuro-Adaptive Patient Pose Correction System For Frameless and Maskless Cancer Radiotherapy
Olalekan Ogunmolu, Adwait Kulkarni, Yonas Tadesse +3
Precise patient positioning is fundamental to successful removal of malignant tumors during treatment of head and neck cancers. Errors in patient positioning have been known to dam…
Vision-based Control of a Soft Robot for Maskless Head and Neck Cancer Radiotherapy
Olalekan P. Ogunmolu, Xuejun Gu, Steve Jiang +1
This work presents an on-going investigation of the control of a pneumatic soft-robot actuator addressing accurate patient positioning systems in maskless head and neck cancer radi…
Nonlinear Systems Identification Using Deep Dynamic Neural Networks
Olalekan Ogunmolu, Xuejun Gu, Steve Jiang +1
Neural networks are known to be effective function approximators. Recently, deep neural networks have proven to be very effective in pattern recognition, classification tasks and h…
A Real-Time Soft Robotic Patient Positioning System for Maskless Head-and-Neck Cancer Radiotherapy: An Initial Investigation
Olalekan Ogunmolu, Xuejun Gu, Steve Jiang +1
We present an initial examination of a novel approach to accurately position a patient during head and neck intensity modulated radiotherapy (IMRT). Position-based visual-servoing…