4 papers · 1 filter
Constraint-Unified MPC for Over-Actuated Surface Vehicles with Post-Detection Fault Reconfiguration
Sebastian Burmester, Ruiheng Jiang, Noa Sendlhofer +2
Choreographed aquatic performances require small autonomous surface vehicles to track precise paths under per-thruster force and rate limits, including after thruster failures. We…
Choreographing the Way of Water: A Computational Framework for Aquatic Robotic Art
Aswin Ramachandran, Christopher Golling, Sebastian Burmester +4
Robotic choreography in open water is governed by nonlinear fluid dynamics, which impose significant challenges due to environmental disturbances and nonlinear system dynamics. Thi…
Motion planning for hundreds of floating robots
Jan Kamm, Antonio Terpin, Raffaello D'Andrea +1
Planning collision-free motion for large robot fleets is difficult because collision avoidance induces strong inter-agent coupling that grows rapidly with team size. We consider om…
Stabilizing Fast Dynamical Systems Using Time-of-Flight Cameras
Anthony Czubarow, Antonio Terpin, Raffaello D'Andrea
Time-of-flight cameras are popular in robotics because they provide direct depth information and are compact, inexpensive, and less dependent on ambient visible light. However, the…