We present a demonstration showcasing the Autonomy Testbed for Multi-purpose Orbiting Systems (ATMOS), a planar spacecraft-analog robot designed for hardware-in-the-loop evaluation of guidance and control strategies in microgravity-like conditions. Using ATMOS as the physical test platform, we investigate the design, a...
Inkyu Jang, Gregorio Marchesini, Nicola de Carli et al.· 1 citation
We address the formation control problem for open multi-robot systems (OMRS), i.e., systems in which robots may join or leave the team during operation and new interaction links are established over time, subject to inter-robot collision-avoidance and connectivity-maintenance constraints. The robots are modeled by doub...
Pelin Şekercioğlu, Nicola de Carli, D. Dimarogonas· 0 citations
In this work, we propose a communication-free framework for vision-based formation control of fully actuated underwater robots subject to sensing constraints, collision-avoidance requirements, and input saturations. Recentered barrier Lyapunov functions encode sensing and collision-avoidance constraints, while command-...
Nicola de Carli, João Zenário, Victor Nan Fernandez-Ayala et al.· 1 citation· ⚡1
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