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Keywords: autonomous systems
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Journal Articles

Sharp Curve Trajectory Tracking of a Universal Omni-Wheeled Mobile Robot Using a Sliding Mode Controller

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Technical Briefs
Letters Dyn. Sys. Control. April 2025, 5(2): 024501.
Paper No: ALDSC-24-1025
https://doi.org/10.1115/1.4066937
Published Online: November 6, 2024
... sliding mode controller multibody dynamics sharp curve trajectory tracking mobile robot nonholonomic autonomous systems control applications dynamics and control multibody systems nonlinear control robotics sliding mode control vehicle dynamics and control The indicated slightly...
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Topics: Control equipment, Mobile robots, Momentum, Robots, Sliding mode control, Trajectories (Physics), Dynamic models, Dynamic modeling
Journal Articles

Human-Centered Coordination for Robot-Assisted Equipment Transport

Joshua Fernandez, Austin Cosby, Anirban Mazumdar
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2025, 5(2): 021002.
Paper No: ALDSC-24-1011
https://doi.org/10.1115/1.4066870
Published Online: October 30, 2024
.... Email: jfernandez75@gatech.edu Email: akc369@msstate.edu Email: anirban.mazumdar@me.gatech.edu autonomous systems biologically-inspired methods dynamics and control human–machine interfaces robotics References [1] DiVencenzo , H. R. , Morgan , A. L...
View Article titled, Human-Centered Coordination for Robot-Assisted Equipment Transport
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Topics: Robots
Journal Articles

Rapid Airborne Gas-Plume Mapping and Source Localization With Feedforward Gas-Sensor Dynamics Compensation

Kyle C. Hoffman, Jacob M. Anderson, Kam K. Leang
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2024, 4(4): 041002.
Paper No: ALDSC-24-1026
https://doi.org/10.1115/1.4066513
Published Online: September 27, 2024
...: Kyle.C.Hoffman@utah.edu Email: jacob.m.anderson@utah.edu 1 Corresponding author. Email: kam.k.leang@utah.edu chemical sensing source localization plume tracking feedforward control autonomous systems robotics uncrewed vehicles References [1] Hutchinson , M. , Oh...
View Article titled, Rapid Airborne Gas-Plume Mapping and Source Localization With Feedforward Gas-Sensor Dynamics Compensation
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Topics: Dynamics (Mechanics), Plumes (Fluid dynamics), Sensors, Feedforward control, Particle swarm optimization
Journal Articles

Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021007.
Paper No: ALDSC-23-1074
https://doi.org/10.1115/1.4064517
Published Online: March 7, 2024
... No. IMECE2023-114223. 01 11 2023 04 01 2024 12 01 2024 07 03 2024 Graphical Abstract Figure kinematic trajectory tracking PID mobile robot non-holonomic Kane canonical momenta sliding mode LQR pole placement machine learning agents based systems autonomous...
View Article titled, Investigating Suitable Combinations of Dynamic Models and Control Techniques for Offline Reinforcement Learning Based Navigation: Application of Universal Omni-Wheeled Robots
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Topics: Control equipment, Dynamic models, Momentum, Dynamic modeling, Pole placement, Robots, Kinematics
Journal Articles

Curvature Sensitive Modification of Pure Pursuit Control

Alexander L. Garrow, Diane L. Peters, Tanmay A. Panchal
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2024, 4(2): 021002.
Paper No: ALDSC-23-1059
https://doi.org/10.1115/1.4064515
Published Online: February 12, 2024
... automotive systems autonomous systems control applications The drive to develop fully autonomous vehicles is currently a major effort within both industry and academia, with research being conducted on multiple different aspects of the problem—sensing, navigation, control, and many others. One...
View Article titled, Curvature Sensitive Modification of Pure Pursuit Control
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Topics: Calibration, Control equipment, Roads, Vehicles
Journal Articles

Safe Operating Limits of Vehicle Dynamics Under Parameter Uncertainty Using Koopman Spectrum

Alok Kumar, Bhagyashree Umathe, Umesh Vaidya, Atul Kelkar
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2023, 3(2): 021008.
Paper No: ALDSC-23-1039
https://doi.org/10.1115/1.4063479
Published Online: October 25, 2023
...@clemson.edu Email: bumathe@clemson.edu Email: uvaidya@clemson.edu Email: atul@clemson.edu 23 07 2023 18 09 2023 18 09 2023 25 10 2023 parameter uncertainty linear operator approach reachability analysis autonomous systems nonlinear systems optimization algorithms...
View Article titled, Safe Operating Limits of Vehicle Dynamics Under Parameter Uncertainty Using Koopman Spectrum
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Topics: Computation, Eigenfunctions, Uncertainty, Vehicle dynamics, Dynamics (Mechanics), Probability, Simulation results
Journal Articles

Reinforcement Learning Based Aircraft Controller Enhanced By Gaussian Process Trim Finding

Hady Benyamen, Mozammal Chowdhury, Shawn Keshmiri
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2023, 3(3): 031002.
Paper No: ALDSC-23-1008
https://doi.org/10.1115/1.4063605
Published Online: October 25, 2023
... through experience to perform desired tasks. Armstrong Flight Research Center 10.13039/100007346 18CDA067L Federal Aviation Administration 10.13039/100006282 15-C-UAS-KU-05 aerospace systems autonomous systems biologically inspired methods control applications dynamics...
View Article titled, Reinforcement Learning Based Aircraft Controller Enhanced By Gaussian Process Trim Finding
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Topics: Aircraft, Algorithms, Control equipment, Flight, Reinforcement learning, Errors, Artificial neural networks
Journal Articles

Robust Dynamic Modeling and Trajectory Tracking Controller of a Universal Omni-Wheeled Mobile Robot

Nalaka Amarasiri, Alan A. Barhorst, Raju Gottumukkala
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2022, 2(4): 040902.
Paper No: ALDSC-22-1025
https://doi.org/10.1115/1.4055690
Published Online: October 19, 2022
... 22 07 2022 09 09 2022 10 09 2022 19 10 2022 universal omni-wheels kinematic inverse kinematic multibody dynamics trajectory tracking PID controller mobile robot nonholonomic Kane’s equations actuator autonomous systems computer-aided control design control...
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Topics: Control equipment, Kinematics, Mobile robots, Robots, Trajectories (Physics), Wheels, Dynamics (Mechanics), Modeling, Dynamic modeling, Dynamic models
Journal Articles

Row Allocation Negotiation for a Fleet of Strawberry Harvesting Robots

Madeline Mapes, Yunjun Xu
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. July 2022, 2(3): 031007.
Paper No: ALDSC-21-1046
https://doi.org/10.1115/1.4054644
Published Online: June 10, 2022
... 05 2022 10 06 2022 autonomous systems control applications decentralized control multivehicle systems National Science Foundation 10.13039/100000001 1924622 High production costs, increasing populations, and labor shortages have driven the demand for automation...
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Topics: Algorithms, Robots
Journal Articles

Fast Data-Driven Model Predictive Control Strategy for Connected and Automated Vehicles

Viranjan Bhattacharyya, Alejandro Fernandez Canosa, Baisravan HomChaudhuri
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. October 2021, 1(4): 041011.
Paper No: ALDSC-20-1065
https://doi.org/10.1115/1.4050501
Published Online: April 2, 2021
... 09 2020 18 02 2021 22 02 2021 02 04 2021 autonomous systems control applications machine learning model predictive control optimal control predictive control for nonlinear systems vehicle dynamics and control Mobility, safety, and fuel efficiency are some...
View Article titled, Fast Data-Driven Model Predictive Control Strategy for Connected and Automated Vehicles
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Topics: Autonomous vehicles, Collisions (Physics), Control equipment, Fuel efficiency, Nonlinear systems, Optimal control, Predictive control, Trajectories (Physics), Uncertainty, Vehicles
Journal Articles

Modeling and Simulation of Perching With a Quadrotor Aerial Robot With Passive Bio-inspired Legs and Feet

David J. Dunlop, Mark A. Minor
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2021, 1(2): 021005.
Paper No: ALDSC-19-1157
https://doi.org/10.1115/1.4046778
Published Online: April 15, 2020
... in a quadrotor system to land and take-off from a perch in a reliable manner. Email: david.dunlop@utah.edu Email: mark.minor@utah.edu 18 11 2019 25 02 2020 15 03 2020 27 03 2020 actuator aerospace systems autonomous systems biologically inspired methods constrained...
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Topics: Modeling, Simulation, Tendons, Biomimetics, Dynamics (Mechanics), Robots