6 papers
Safe Formation Control of Open Multi-Robot Systems with Connectivity-Preserving Reconfiguration
Pelin Sekercioglu, Nicola De Carli, Dimos V. Dimarogonas
We address the formation control problem for open multi-robot systems (OMRS), i.e., systems in which robots may join or leave the team during operation and new interaction links ar…
Vision-based Underwater Formation Control With Input Saturations via Barrier Lyapunov Functions
Nicola De Carli, João Zenário, Victor Nan Fernandez-Ayala +1
In this work, we propose a communication-free framework for vision-based formation control of fully actuated underwater robots subject to sensing constraints, collision-avoidance r…
Multi-Agent Transportation of Free-Flyers in Microgravity Via Pushing Interaction Under Human-in-the-Loop Control
Gregorio Marchesini, Nicola De Carli, Sihyun Cho +5
We propose a safety-critical framework for the cooperative transportation of passive targets in microgravity, where a team of chaser robots acts through unilateral pushing contacts…
Demonstration of Space Robot Teleoperation over a Lossy and Delayed Network using ATMOS
Inkyu Jang, Gregorio Marchesini, Nicola De Carli +15
We present a demonstration showcasing the Autonomy Testbed for Multi-purpose Orbiting Systems (ATMOS), a planar spacecraft-analog robot designed for hardware-in-the-loop evaluation…
STL-GCS: A Planner-Controller Framework for Signal Temporal Logic via Graphs of Time-varying Convex Sets
Nicola De Carli, Gregorio Marchesini, Dimos V. Dimarogonas
We present a unified trajectory planning and control framework for the satisfaction of Signal Temporal Logic (STL) specifications defined over convex predicates. At the planning la…
Marinarium: A Modular Experimental Facility for Reproducible Maritime and Space-Analog Field Robotics
Ignacio Torroba, David Dorner, Victor Nan Fernandez-Ayala +14
Field robotics research in maritime and space domains is constrained by a persistent gap between low-cost, low-fidelity simulation and costly offshore experimentation. Instrumented…