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1. Distributed Control of Multi-Agent/-Robotic Networks:
1. Distributed Control of Multi-Agent/-Robotic Networks:
Distributed control schemes for a system of multiple agents, such as ground two-wheeled vehicles, UAVs, and autonomous surface ships, to either form a desired configuration or tracking a moving formation guided by a few leader agents.
Formation control of Epuck two-wheeled robots
Formation tracking of ground unicyle robots
Bearing-constrained Formation tracking control (ROS+Gazebo)
Formation control with arbitrary convergence time
Representative publications:
Representative publications:
Quoc Van Tran et al., "Robust Bearing-based Formation Tracking Control of Underactuated Surface Vessels: An Output Regulation Approach," IEEE Transactions on Control of Network Systems, 2023. (SCIE Q1, IF 4.347). Link
M.H. Vu, M. H. Trinh, Q. V. Tran, and Hyo-Sung Ahn, "Distance-based formation tracking of single- and double-integrator agents," IEEE Transactions on Automatic Control, 2023. (SCI Q1, IF 6.8)
Quoc Van Tran, M. H. Trinh, N. H. Nguyen, H.-S. Ahn, “Free-will arbitrary time consensus with diffusive coupling," International Journal of Robust and Nonlinear Control, vol. 32(15), Sept. 2022. ISSN:1099-1239 (SCIE Q1, IF 3.897, rank 35/268 in Control & Systems Engineering). Link
Quoc Van Tran and J.H. Kim, "Bearing-constrained formation tracking control of nonholonomic agents without inter-agent communication," IEEE Control Systems Letters (L-CSS), vol. 6, Mar. 2022, pp. 2401-2406, ISSN: 2475-1456, (WoS ESCI, Q1 (rank 32/268 in Control & Systems Engineering), Scopus). Link
Quoc Van Tran and H.-S. Ahn, "Distributed formation control of mobile agents via global orientation estimation," IEEE Transactions on Control of Network Systems, vol. 7, no. 4, pp. 1654-1664, Dec. 2020, ISSN: 2325-5870, (SCIE Q1, IF 3.502, rank 3/155 in Control & Optimization ), DOI: 10.1109/TCNS.2020.2993253. Link
Q. V. Tran, H.-S. Ahn, and J.H. Kim, "Direction-only orientation alignment of leader-follower networks," American Control Conference (ACC), Atlanta, June 2022, pp. 2142-2147. Link
2. Distributed Computation & Sensor Network Localization:
2. Distributed Computation & Sensor Network Localization:
Distributed computation of the vertex-to-vertex correspondences between two graphs
Distributed sensor network localization
Discrete-time matrix-weighted consensus
Representative publications:
Representative publications:
J.-G. Lee, Q. V. Tran, K.-H. Oh, P.G. Park, H.-S. Ahn, "Distributed object pose estimation over strongly connected networks." Systems & Control Letter, Conditional accept, 2023. (SCIE Q1, IF 2.74). Link
Q. V. Tran, Z. Sun, B. D. O. Anderson, and H.-S. Ahn, “Distributed optimization for graph matching," IEEE Transactions on Cybernetics, Jan. 2022, pp. 1-14, ISSN: 2168-2267, (SCIE Q1, IF 19.118, rank 1/268 in Control & Systems Engineering), DOI: 10.1109/TCYB.2022.3140338. Link
Q. V. Tran, Z. Sun, B. D. O. Anderson, and H.-S. Ahn, “Distributed computation of graph matching in multi-agent networks,” the 59th IEEE Conference on Decision and Control (CDC), Jeju, Dec. 2020, pp. 3139-3144. Link
Q. V. Tran, M. H. Trinh, and H.-S. Ahn," Discrete-time matrix weighted consensus," IEEE Transactions on Control of Network Systems, vol. 8(4), Dec. 2021, pp. 1568 –1578, ISSN: 2325-5870 (SCIE Q1, IF 3.502, rank 3/155 in Control & Optimization), DOI: 10.1109/TCNS.2021.3068367. Link
Q. V. Tran, B. D. O. Anderson, and H.-S. Ahn, "Pose localization of leader-follower networks with direction measurements," Automatica, vol. 120, no. 109125, July 2020, ISSN: 0005-1098 (SCIE Q1, IF 5.944), https://doi.org/10.1016/j.automatica.2020.109125.
Q. V. Tran, H.-S. Ahn, and B. D. O. Anderson, “Distributed orientation localization of multi-agent systems in 3-dimensional space with direction-only measurements,” in Proc. the 57th IEEE Confer. Decision Control (CDC), Miami, Dec. 2018, pp. 2883-2889.
3. Dynamics & Control of Mechanical and Robot Systems :
3. Dynamics & Control of Mechanical and Robot Systems :
Model dynamics and develop position control, path-following/trajectory tracking control, and adaptive control schemes for mechanical systems including serial and parallel robot platforms, and subject to motion constraints (nonholonomic, such as ground wheeled vehicles) and under-actuation (e.g., underactuated surface vessels).
The dynamics and cooperative control of multiple robot manipulators for heavy-load transportation and manipulation are interesting topics that can be investigated.
Ground two-wheeled robots
Fully actuated Surface Ship
Underactuated Surface Vessels
2DOF planar robotic system for rehabilitation
6DOF parallel robot manipulator
Representative publications:
Representative publications:
C. Lee, Q. V. Tran, and J. Kim, "Robust Path Tracking and Obstacle Avoidance using Tube-based Model Predictive Control for Surface Vehicles," the 14th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles, (CAMS 2022), Copenhagen 16-18 Sept., IFAC-PapersOnLine, vol.55, iss. 31, 2022, pp. 301-306, ISSN 2405-8963.
Q V. Tran, S Kim, K Lee, J Ryu, “Preliminary results of force/torque sensorless impedance control for Walkbot,” 12th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) , Goyang , 28-30 Oct. 2015 , pp. 597-602.
Q. V. Tran, S. Kim, K. Lee, S. Kang, J. Ryu, "Force/torque sensorless impedance control for indirect driven robot-aided gait rehabilitation system ", in Proc. IEEE Int. Confer. Advanced Intelligent Mechatronics, Busan, 2015, pp. 652-657.
Collaborators:
Collaborators:
Faculties at the Group of Applied Mechanics, HUST, Vietnam.
Prof. Hyo-Sung Ahn, Distributed Control and Autonomous Systems Lab (GIST, Korea)
Prof. Jinwhan Kim, Mobile Robotics and Intelligence Lab (KAIST, Korea)
Dr. Trinh Hoang Minh, FPT University, AI Campus Quy Nhon, Vietnam
Prof. Ryu Jeha, (GIST, Korea)
TBD
Facilities at the Group office M.802, C7, HUST:
Facilities at the Group office M.802, C7, HUST:
The pieces of equipment listed below are installed at the group office; other industrial robot manipulators (UR5) and ground vehicles in the Mechatronics labs can also be used.
Gaming PC + Nvidia RTX GeForce + Intel Depth Camera
Mobile Turtlebot Burger for (formation) control, navigation, and planning
Google Sites
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