10 papers
Wrench-Aware Admittance Control for Unknown-Payload Manipulation
Hossein Gholampour, Logan E. Beaver
Unknown payloads can strongly affect compliant robotic manipulation, especially when the payload center of mass is not aligned with the tool center point. In this case, the payload…
Optimal Control and Structurally-Informed Gradient Optimization of a Custom 4-DOF Rigid-Body Manipulator
Brock Marcinczyk, Logan E. Beaver
This work develops a control-centric framework for a custom 4-DOF rigid-body manipulator by coupling a reduced-order Pontryagin's Maximum Principle (PMP) controller with a physics-…
Trajectory Tracking with Reachability-Guided Quadratic Programming and Freeze-Resume
Hossein Gholampour, Logan E. Beaver
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can…
Mixed Traffic: A Perspective from Long Duration Autonomy
Filippos Tzortzoglou, Logan E. Beaver
The rapid adoption of autonomous vehicle has established mixed traffic environments, comprising both autonomous and human-driven vehicles (HDVs), as essential components of next-ge…
Mass-Adaptive Admittance Control for Robotic Manipulators
Hossein Gholampour, Jonathon E. Slightam, Logan E. Beaver
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this…
A Long-Duration Autonomy Approach to Connected and Automated Vehicles
Logan E. Beaver
In this article, we present a long-duration autonomy approach for the control of connected and automated vehicles (CAVs) operating in a transportation network. In particular, we fo…
Model Predictive Control for Magnetically-Actuated Cellbots
Mehdi Kermanshah, Logan E. Beaver, Max Sokolich +5
This paper presents a control framework for magnetically actuated cellbots, which combines Model Predictive Control (MPC) with Gaussian Processes (GPs) as a disturbance estimator f…
Energy-Optimal Multi-Agent Navigation as a Strategic-Form Game
Logan Beaver
This extended abstracts presents a method to generate energy-optimal trajectories for multi-agent systems as a strategic-form game. Using recent results in optimal control, we demo…
Multi-Robot Task Allocation using Global Games with Negative Feedback: The Colony Maintenance Problem
Logan E. Beaver
In this article we address the multi-robot task allocation problem, where robots must cooperatively assign themselves to accomplish a set of tasks. We consider the colony maintenan…
Optimal Control Barrier Functions: Maximizing the Action Space Subject to Control Bounds
Logan E. Beaver
This letter addresses the constraint compatibility problem of control barrier functions (CBFs), which occurs when a safety-critical CBF requires a system to apply more control effo…