A novel error function yields Hamiltonian error dynamics for energy-based tracking control of a fully coupled SE(3) underwater vehicle model, with asymptotic stability proved and validated in BlueROV2 simulation.
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Neural CCM and feedback controllers trained on decoupled payload and cable subsystems enable trajectory tracking and gate traversal for variable-length cable multi-drone systems in simulation.
An open-sourced Unified Autonomy Stack fuses LiDAR, radar, vision and inertial data with sampling-based planning and control barrier functions to deliver resilient autonomy on aerial and ground robots in challenging real-world settings.
citing papers explorer
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Tracking Control for a Dynamic Model of an Underwater Submersible
A novel error function yields Hamiltonian error dynamics for energy-based tracking control of a fully coupled SE(3) underwater vehicle model, with asymptotic stability proved and validated in BlueROV2 simulation.
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Contraction-based Neural Control for Cooperative Aerial Payload Transportation with Variable-length Cables
Neural CCM and feedback controllers trained on decoupled payload and cable subsystems enable trajectory tracking and gate traversal for variable-length cable multi-drone systems in simulation.
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The Unified Autonomy Stack: Toward a Blueprint for Generalizable Robot Autonomy
An open-sourced Unified Autonomy Stack fuses LiDAR, radar, vision and inertial data with sampling-based planning and control barrier functions to deliver resilient autonomy on aerial and ground robots in challenging real-world settings.
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