3 papers
cs.RO2026
Safety-Critical Adaptive Impedance Control via Nonsmooth Control Barrier Functions under State and Input Constraints
Faisal Lawan, Xiaoran Han, Joaquin Carrasco +2
Safe physical interaction is critical for deploying robotic manipulators in human-robot interaction and contact-rich tasks, where uncertainty, external forces, and actuator limitat…
cs.RO2024
Virtual Elastic Tether: a New Approach for Multi-agent Navigation in Confined Aquatic Environments
Kanzhong Yao, Xueliang Cheng, Keir Groves +3
Underwater navigation is a challenging area in the field of mobile robotics due to inherent constraints in self-localisation and communication in underwater environments. Some of t…
cs.RO2024
Collaborative Aquatic Positioning System Utilising Multi-beam Sonar and Depth Sensors
Xueliang Cheng, Ognjen Marjanovic, Barry Lennox +1
Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, ther…