This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in configuration space. To maintain safety, we synthesize velocity based barrier function theory without relying -- potentially complicated high-fidelity dynamical model robot. Then, track with tracking controller. culminates model-free critical control. We prove theoretica...

Networked robotic systems consist of a collection of interconnected components (being multiple robots working together or robots working with external systems such as wireless sensor networks or servers). These components require cooperation and collaboration to achieve a common goal. However application development for such collaborative distributed systems composed of many robots with sensors...

This paper considers how to enumerate the basic set of all the non-isomorphic configurations of a planar metamorphic robotic system. Metamorphic robotic systems are being widely studied because their shape changing abilities make them potentially useful for a larger set of tasks that conventional robotic systems are unable to develop, for example reconnaissance, exploration, satellite recovery,...

Nature has always been a source of inspiration in the development of robotic systems. As such, the study of animal behavior (ethology) and the study of the underlying neural structure responsible for behavior (neuroethology) have inspired many robotic designs. In general, neuroethological based systems tend to be more complex than ethological ones thus being more expensive to compute, a common ...