The gradient projection anti-windup (GPAW) scheme was recently proposed as an anti-windup method for nonlinear multi-input-multi-output systems/controllers, the solution of which was recognized as a largely open problem ...

This paper considers the problem of online informative motion planning for a network of heterogeneous sensing agents, each subject to dynamic constraints, environmental constraints, and sensor limitations. Prior work has ...

Approximate Dynamic Inversion has been established as a method to control minimum-phase, nonaffine-in-control systems [1]. In this report, we re-state the main results of [1], clarify some minor notational errors, and prove ...

This paper presents a real-time path planning algorithm which can guarantee probabilistic feasibility for autonomous robots subject to process noise and an uncertain environment, including dynamic obstacles with uncertain ...

Real-world dynamical variations make adaptive control of time-varying systems highly relevant. However, most adaptive control literature focuses on analyzing systems where the uncertainty is represented as a weighted linear ...

This paper considers the path planning problem for an autonomous vehicle in an urban environment populated with static obstacles and moving vehicles with uncertain intents. We propose a novel threat assessment module, ...