100 citations · 381 across the 46 of their papers we have counts for
8 papers · 1 filter
Collision-free Source Seeking Control Methods for Unicycle Robots
Tinghua Li, Bayu Jayawardhana
In this work, we propose a collision-free source-seeking control framework for a unicycle robot traversing an unknown cluttered environment. In this framework, obstacle avoidance i…
Distributed formation control for manipulator end-effectors
Haiwen Wu, Bayu Jayawardhana, Hector Garcia de Marina +1
We present three classes of distributed formation controllers for achieving and maintaining the 2D/3D formation shape of manipulator end-effectors to cope with different scenarios…
Source Seeking Control of Unicycle Robots with 3D-printed Flexible Piezoresistive Sensors
Tinghua Li, Bayu Jayawardhana, Amar Kamat +1
We present the design and experimental validation of source seeking control algorithms for a unicycle mobile robot that is equipped with novel 3D-printed flexible graphene-based pi…
Distributed formation control of manipulators' end-effector with internal model-based disturbance rejection
Haiwen Wu, Bayu Jayawardhana, Hector Garcia de Marina +1
This paper addresses the problem of end-effector formation control for manipulators that are subjected to external disturbances: input disturbance torques and disturbance forces at…
Securing Isosceles Triangular Formations under Heterogeneous Sensing and Mixed Constraints
Nelson P. K. Chan, Bayu Jayawardhana, Hector Garcia de Marina
This paper focuses on securing a triangular shape (up to translation) for a team of three mobile robots that uses heterogeneous sensing mechanism. Based on the available local info…
Multi-robot motion-formation distributed control with sensor self-calibration: experimental validation
Hector Garcia de Marina, Johan Siemonsma, Bayu Jayawardhana +1
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to…
Controlling rigid formations of mobile agents under inconsistent measurements
Hector Garcia de Marina, Ming Cao, Bayu Jayawardhana
Despite the great success of using gradient-based controllers to stabilize rigid formations of autonomous agents in the past years, surprising yet intriguing undesirable collective…
Distributed rotational and translational maneuvering of rigid formations and their applications
Hector Garcia de Marina, Bayu Jayawardhana, Ming Cao
Recently it has been reported that range-measurement inconsistency, or equivalently mismatches in prescribed inter-agent distances, may prevent the popular gradient controllers fro…