This letter presents a new predictive control architecture for high-dimensional robotic systems. As opposed to conventional Model Predictive Control (MPC) approach locomotion that formulates hierarchical sequence of optimization problems, the proposed work single problem posed over hierarchy models, and is thus named Hierarchy (MHPC). MHPC formulated as multi-phase receding-horizon Trajectory O...

This paper describes a general design and implementation approach used for programming and controlling complex robotic systems such as remotely operated submersibles, autonomous submersibles, and robotic manipulator systems. A hierarchical approach to control system design is adopted. The hierarchical design is translated into a component-based software design. All real-time software components...

Over the decades, kinematic controllers have proven to be practically useful for applications like set-point and trajectory tracking in robotic systems. To this end, we formulate a novel safety-critical paradigm by extending methodology of control barrier functions (CBFs) equations governing We demonstrate purely implementation velocity-based CBF, subsequently introduce formulation that guarant...

Autonomous systems are becoming inherently ubiquitous with the advancements of computing and communication solutions enabling low-latency offloading real-time collaboration distributed devices. Decentralized technologies blockchain ledger (DLTs) playing a key role. At same time, advances in deep learning (DL) have significantly raised degree autonomy level intelligence robotic autonomous system...

OF THESIS GRADUATE SCHOOL, UNIVERSITY OF ALABAMA AT BIRMINGHAM Degree M.S.EE. Program Electrical Engineering g Name of Candidate Jitendra Jaising Gaikwad g Committee Chair Dale W Callahan v Title Internet-Controlled Robots and Wireless Sensor Networks Communication: f----Problems and Issues f Robotic systems have been widely utilized in factory automation, space exploration, military service an...

Purpose As robots are not yet widely accepted in Europe as service providers in home environments, the authors intent to establish the possibility to distribute robotic elements and mechatronic devices in order to fuse them with various subsystems of buildings. Thus, robotic service systems could support Activities of Daily Living (ADLs), becoming an invisible part of the building. The proposed...