Joaquin Carrasco

Bio: Joaquin Carrasco is an academic researcher from University of Manchester. The author has contributed to research in topics: Monotone polygon & Reset (computing). The author has an hindex of 19, co-authored 93 publications receiving 1120 citations. Previous affiliations of Joaquin Carrasco include University of Murcia.

Voronoi-Based Multi-Robot Autonomous Exploration in Unknown Environments via Deep Reinforcement Learning

Abstract: Autonomous exploration is an important application of multi-vehicle systems, where a team of networked robots are coordinated to explore an unknown environment collaboratively. This technique has earned significant research interest due to its usefulness in search and rescue, fault detection and monitoring, localization and mapping, etc. In this paper, a novel cooperative exploration strategy is proposed for multiple mobile robots, which reduces the overall task completion time and energy costs compared to conventional methods. To efficiently navigate the networked robots during the collaborative tasks, a hierarchical control architecture is designed which contains a high-level decision making layer and a low-level target tracking layer. The proposed cooperative exploration approach is developed using dynamic Voronoi partitions, which minimizes duplicated exploration areas by assigning different target locations to individual robots. To deal with sudden obstacles in the unknown environment, an integrated deep reinforcement learning based collision avoidance algorithm is then proposed, which enables the control policy to learn from human demonstration data and thus improve the learning speed and performance. Finally, simulation and experimental results are provided to demonstrate the effectiveness of the proposed scheme.

Reset Control for Passive Bilateral Teleoperation

Abstract: Communication delays are problematic for teleoperated systems. They give rise to a tradeoff between speed and robustness, which cannot be overcome by means of linear controllers. In order to solve this problem, in this paper, we present a novel approach that combines passivity-based techniques and reset-control principles. In this way, it is possible to obtain simultaneously the robust stability properties of passive control and the performance improvement enabled by reset strategies. Experimental and simulation results are presented, which confirm the good behavior achieved with this method.

Reset Times-Dependent Stability of Reset Control Systems

Abstract: Reset control systems are a special type of impulsive hybrid systems in which the time evolution depends both on continuous dynamics between resets and the discrete dynamics corresponding to the reset instants. In this work, stability of reset control systems is approached by using an equivalent (time-varying) discrete time system, introducing new sufficient stability conditions that explicitly depend on the reset times. The stability conditions overcome previous results such as the -condition and can be also applied to reset systems with unstable base system. In addition, stabilization of reset control systems is approached for systems with stable base system, resulting in that a reset control system can be always stabilized if reset intervals are forced to be large enough, avoiding resets at some crossings if necessary.

L2 Gain And Passivity Techniques In Nonlinear Control

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Guidance And Control Of Ocean Vehicles

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