3 papers
eess.SY2019
Passivity-Based Decentralized Control of Multi-Robot Systems With Delays Using Control Barrier Functions
Gennaro Notomista, Xiaoyi Cai, Junya Yamauchi +1
In this paper, we present a solution to the problem of coordinating multiple robots across a communication channel that experiences delays. The proposed approach leverages control…
eess.SY2018
Passivity-Based Generalization of Primal-Dual Dynamics for Non-Strictly Convex Cost Functions
Shunya Yamashita, Takeshi Hatanaka, Junya Yamauchi +1
In this paper, we revisit primal-dual dynamics for convex optimization and present a generalization of the dynamics based on the concept of passivity. It is then proved that supply…
eess.SY2017
Passivity-Based Control of Human-Robotic Networks with Inter-Robot Communication Delays and Experimental Verification
J. Yamauchi, M. W. S. Atman, T. Hatanaka +2
In this paper, we present experimental studies on a cooperative control system for human-robotic networks with inter-robot communication delays. We first design a cooperative contr…