Â鶹ÊÓƵ

This video features the Still Compiling Team showing off their Senior Design project at the 2024 Engineering Expo . The drone is not controlled via a (boring) RF antenna, but via an optical link between a photodiode array on the drone and a laser mounted on a swiveling ground station...

Maximal Output Admissible Sets (MOAS) are the set of all initial states and references such that the output response is always constraint admissible . Introduced in [1], the MOAS holds a special place in constrained control theory and is often used in strategies such as Model Predictive Control and Reference...

This article illustrates our group's most recent progress in developing an optimal path planner for rigid-body spacecraft rotations using Control Moment Gyroscopes (CMG's). This work improves upon our previous project by incorporating fully-modelled spacecraft actuators and addressing all of the fascinating complexities they add to the optimization problem. Above is...

This visualization illustrates our recent work in developing an optimal maneuver planner for rigid-body satellite rotations. Specifically, this animation shows how our solver reshapes a 180º rotation about the satellite's z-axis to be both optimal and feasible . In general, finding a maneuver which is optimal (e.g. uses the minimum...

This video is represents a significant milestone in Kelly Merckaert 's research on safe Human-Robot Interaction. The control laws used in these experiments were developed during Kelly's 6-month research internship at CU Boulder, although their implementation on a physical robot had to wait for her to return to the BruBotics...

Our work on wind field estimation continues with a multi-agent scenawhere multiple mobile sensors communicate with each other to identify the model parameters of the incoming wind. Each agent can only take measurements in its own section of the wind farm and can only communicate with each neighbors. As time...

This video, titled "The Explicit Reference Governor for Real-Time Safe Control of a Robotic Manipulator" was presented at the 2020 IROS Workshop: Bringing constraint-based robot programming to real-world applications . These experimental results showcase the interest in implementing an Explicit Reference Governor for real-time constratined control of robotic manipulators and...

This is the support video for the article "A Distributed Explicit Reference Governor for the Safe On-Board Control of a Nano-Quadrotor Swarm" submitted to IEEE Transactions on Robotics. The paper summarizes the work done by Bryan Convens during his six-month research stay at CU Boulder. These experiment represent a significant...

The video is one of the final experiments performed by Bryan Convens at the end of his six-month stay at CU Boulder. During his research stay, Bryan developed a Distributed ERG add-on to the Crazyswarm framework. The addon enables crazyflies to perform real-time formation changes without requiring any form of...

As the ASIRT seed grant draws to a close, we have successfully demonstrated that it is possible to use a single mobile sensor to estimate the airflow within a wind farm. The principle behind the proposed method is to identify the areas of the flow field that contain the highest...