Control and coordination of robotic systems

Problems of both single and multiple robotic systems have been tackled from the perspective of constrained control, among them:

  • Path following speed auto-regulation in terms of joint constraints.

  • Robust and dynamic robot workspace delimitation.

  • Redundancy resolution and trap avoidance schemes.

  • Reactive collision avoidance.

  • Multiple robots task priority and coordination policies.

  • Coordination of multi-agent systems (AUV’s).