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Found 12 papers, 0 papers with code
Hybrid Feedback Control for Global and Optimal Safe Navigation
We propose a hybrid feedback control strategy that safely steers a point-mass robot to a target location optimally from all initial conditions in the n-dimensional Euclidean space with a single spherical obstacle.
State Feedback Control Design for Input-output Decoupling of Boolean Control Networks
A state feedback control strategy is proposed for input-output (IO) decoupling of a class of fully output controllable Boolean control networks (BCNs).
Safe and Quasi-Optimal Autonomous Navigation in Environments with Convex Obstacles
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a destination, in a quasi-optimal manner, in sphere worlds.
Hybrid Feedback for Affine Nonlinear Systems with Application to Global Obstacle Avoidance (Extended Version)
This paper explores the design of hybrid feedback for a class of affine nonlinear systems with topological constraints that prevent global asymptotic stability.
Distributed Attitude Estimation for Multi-agent Systems on $SO(3)$
First, we propose a continuous nonlinear distributed attitude estimation scheme with almost global asymptotic stability guarantees.
Bearing-based distributed pose estimation for multi-agent networks
In this paper, we address the distributed pose estimation problem for multi-agent systems, where the agents have unknown static positions and time-varying orientations.
Safe and Quasi-Optimal Autonomous Navigation in Sphere Worlds
We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a desired destination, in a quasi-optimal manner, from almost all initial conditions in an n-dimensional Euclidean space cluttered with spherical obstacles.
Modeling of Four-Winged Micro Ornithopters Inspired by Dragonflies
In this paper, we present a full dynamical model of a four-winged micro ornithopter inspired by a dragonfly-type insect.
Nonlinear Attitude Estimation Using Intermittent and Multi-Rate Vector Measurements
This paper considers the problem of nonlinear attitude estimation for a rigid body system using intermittent and multi-rate inertial vector measurements as well as continuous (high-rate) angular velocity measurements.
Nonlinear Attitude Estimation Using Intermittent Linear Velocity and Vector Measurements
This paper investigates the problem of continuous attitude estimation on $SO(3)$ using continuous angular velocity and linear acceleration measurements as well as intermittent linear velocity and inertial vector measurements.
Nonlinear Estimation for Position-Aided Inertial Navigation Systems
In this work we solve the position-aided 3D navigation problem using a nonlinear estimation scheme.
On the Design of Hybrid Pose and Velocity-bias Observers on Lie Group SE(3)
This paper deals with the design of globally exponentially stable invariant observers on the Special Euclidian group SE(3).
Optimization and Control Systems and Control
