5 papers · 1 filter
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-…
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…
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…