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4 papers in the last four weeks, against 1 the four weeks before. 0.0% of all new papers.

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LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots
Sep 28, 2026Anupam Chatterjee, Arpita KumariControl Architecture Odometry
This work was conducted as independent research and received no financial or institutional support from any organization.
Compact Force Sensor for Dual-UAV Cable-Suspended Payload Transport with Tension-Aware Outer-Loop Control
Sep 25, 2026Andrea Delbene, Giorgio Cannata, Giorgio Carlini +2Multi-Uav Ground Reaction Forces
Department of Informatics, Bioengineering, Robotics and Systems Engineering, Università degli Studi di Genova, Via all’Opera Pia 13, 16145, Genoa, Italy
Control Architecture for Safe Grasping of Fragile Objects Using a Coarse Position-Controlled Gripper
Sep 14, 2026Marko Pavlic, Moritz Geier, Timo Markert +1Robotic Grasping Gripper
Machine Vision and Perception Group, Chair of Robotics, Artificial Intelligence and Real-time Systems, Technical University of Munich, Munich, Germany · Resense GmbH, Klingenberg, Germany · Semantic Information Systems Group, Osnabrück University, Osnabrück, Germany
A Decade of Bayesian Optimization for Controller Tuning and Robot Learning: Tutorial, Review, and Future Prospects
Sep 8, 2026David Stenger, Paul Brunzema, Johanna Menn +3Bayesian Optimization Control Architecture
RWTH Aachen University, Aachen, Germany · University of Technology Nuremberg, Nuremberg, Germany · Technical University of Munich, Munich, Germany
Generalization as a robust performance property of learning-enabled dynamical systems
Aug 31, 2026Filippo FabianiLearning Dynamics Generalization Bounds
IMT School for Advanced Studies Lucca, Piazza San Francesco 19, 55100, Lucca, Italy
Static Timing Orchestration for Tree-Structured Robot Control Firmware
Aug 5, 2026Wang Xi, Feiran Wei, Mo Deng +3Control Architecture Robotic Systems
Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, China.
Delegation Intelligence in Deep Search: A Controllable Framework for Disentangled Capability Diagnosis
Jul 26, 2026Xinhao Yao, Yuanzhuo Liu, Changhao Wang +6Agentic Search Deepseek
Tencent · Renmin University of China · UCAS +1
WaveLander: A Generalizable Hierarchical Control Framework for UAV Landing on Wave-Disturbed Platforms via Reinforcement Learning
Jul 1, 2026Chun-Kit Li, Iok Long Sit, Ming Fung Siu +4Cooperative Air Combat Control Architecture
Department of Mathematics, The Hong Kong University of Science and Technology, Hong Kong SAR. · Cheng Kar-Shun Robotics Institute, The Hong Kong University of Science and Technology, Hong Kong SAR. · Division of Integrative Systems and Design, The Hong Kong University of Science and Technology, Hong Kong SAR. +2
Hierarchical Decision Making with Structured Policies: A Principled Design via Inverse Optimization
Jun 27, 2026Yuexuan Wang, Jingyuan Zhou, Kaidi YangHierarchical Reinforcement Learning Control Architecture
Institute of Operations Research and Analytics, National University of Singapore · Department of Civil and Environmental Engineering, National University of Singapore
Layered Outer-Loop Control for Disturbance-Robust Multi-Waypoint UAV Arrival
Jun 24, 2026Runfeng LingMulti-Uav Control Architecture
Runfeng Ling is with The University of Manchester, Manchester, U.K.
Hierarchical Control in Multi-Agent Games: LLM-based Planning and RL Execution
Jun 18, 2026Jannik Hösch, Alessandro Sestini, Florian Fuchs +6Multi-Agent Reinforcement Learning Multi-Agent Planning
1Electronic Arts (EA) · 2KTH Royal Institute of Technology, Stockholm, Sweden
Mobile Pedipulation for Object Sliding via Hierarchical Control on a Wheeled Bipedal Robot
Jun 17, 2026Yue Qin, Yulun Zhuang, Zelin Shen +1Legged Robots Slipsense
Department of Robotics, University of Michigan, Ann Arbor, MI 48109, USA
HumanoidArena: Benchmarking Egocentric Hierarchical Whole-body Learning
Jun 16, 2026Taowen Wang, Zikang Xie, Bin Yang +13Whole-Body Control Whole-Body
The Hong Kong University of Science and Technology (Guangzhou) · Beijing University of Technology · Harbin Institute of Technology, Shenzhen +2
Data-driven Control with Real-time Uncertainty Compensation for Multi-Fuel Engines
Jun 15, 2026Rajasree Sarkar, Arunava Banerjee, Sathya Aswath Govind Raju +4Combustion Control Control Architecture
aDepartment of Mechanical Engineering, University of Minnesota Twin Cities, Minneapolis, MN 55455, USA. · bDEVCOM Army Research Laboratory, Aberdeen Proving Ground, MD, USA, 21005.
Model-Based and Data-Driven Hierarchical Control and Topology Co-Design for Robust Networked Systems
Jun 10, 2026Shirantha Welikala, Zihao Song, Hai Lin +1Control Architecture Lyapunov Function
Department of Electrical and Computer Engineering, School of Engineering and Science, Stevens Institute of Technology, Hoboken, NJ 07030 · Department of Electrical Engineering, University of Notre Dame, Notre Dame, IN, USA
Self-Evolving Scientific Agent Designs Physically Reasoned White-Box Fluid Control
Jun 7, 2026Boai Sun, Wenjin Guo, Zongmin Yu +1Control Architecture Full-Body Humanoid Control
National University of Singapore, Singapore.
L-Learning : A Lyapunov-Based Approach Leveraging Lagrangian Mechanics for Efficient and Stable Robot Tracking
May 26, 2026Quan Quan, Hao LiControl Architecture Lyapunov Function
1Quan Quan and Hao Li are with School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
Benchmarking Empirical and Learning-Based Approaches for Feedforward Steering Control in Autonomous Racing
May 20, 2026Georg Jank, Mattia Piccinini, Sebastian Wenk +3Autonomous Racing Control Architecture
Chair of Automatic Control, Department of Engineering Physics and Computation, Technical University of Munich, Boltzmannstraße 15, 85748 Garching bei München, Germany · Professorship of Autonomous Vehicle Systems (AVS), Department of Mobility Systems Engineering, Technical University of Munich, Boltzmannstraße 15, 85748 Garching bei München, Germany
MUJICA: Multi-skill Unified Joint Integration of Control Architecture for Wheeled-Legged Robots
May 13, 2026Yuqi Li, Peng Zhai, Yueqi Zhang +5Agile Locomotion Legged Robots
College of Intelligent Robotics and Advanced Manufacturing, Fudan University, Shanghai 200433, China · Power China Huadong Engineering Corporation Limited, Hangzhou, China
Safe Exploration for Nonlinear Processes Using Online Gaussian Process Learning
May 10, 2026Stefano Tonini, Soroush Rastegarpour, Hamid Reza Feyzmahdavian +2Lyapunov Function Control Architecture
ABB Corporate Research, Väster˚as, Sweden · KTH Royal Institute of Technology, Stockholm, Sweden
High Precision Hydraulic Excavator Control for Heavy-Duty Grading
May 10, 2026Lennart Werner, Pol Eyschen, Sean Costello +2Control Architecture Precision
ETH Zürich, Robotic Systems Lab, Zürich, Switzerland · Hexagon AB, Heerbrugg, Switzerland
Safety by Invariance, Liveness through Refinement: Heterogeneous Contract Framework for Co-Design of Layered Control
May 5, 2026Yoshinari Takayama, Alessio Iovine, Bart Besselink +2Safety Constraints Control Architecture
Laboratory of Signals and Systems (L2S), CNRS, CentraleSupelec, Paris-Saclay University, France · Bernoulli Institute for Mathematics, Computer Science, and Artificial Intelligence, University of Groningen, The Netherlands · College of Computing, University Mohammed VI Polytechnic, Benguerir, Morocco
A Control Architecture for Training-Free Memory Use
Apr 20, 2026Yanzhen Lu, Muchen Jiang, Zhicheng Qian +1Semantic Memory Control Architecture
Shanghai Qizhi Institute · Nanjing Whale Cloud · Southeast University +1
Logic-Based Verification of Task Allocation for LLM-Enabled Multi-Agent Manufacturing Systems
Apr 18, 2026Jonghan Lim, Mostafa Tavakkoli Anbarani, Rômulo Meira-Góes +1Artificial Intelligence Control Manufacturing
Department of Industrial and Manufacturing Engineering, Pennsylvania State University, State College, USA · Department of Mechanical Engineering, Pennsylvania State University, State College, USA · Department of Electrical Engineering, Pennsylvania State University, State College, USA
EchoFoley: Event-Centric Hierarchical Control for Video Grounded Creative Sound Generation
Dec 31, 2025Bingxuan Li, Yiming Cui, Yicheng He +4Audio-Video Generation Narratives
University of Illinois Urbana-Champaign · 1ByteDance Intelligent Creation · University of California, Los Angeles +1
R2DN: Scalable Parameterization of Contracting and Lipschitz Recurrent Deep Networks
Apr 1, 2025Nicholas H. Barbara, Ruigang Wang, Ian R. ManchesterRecurrent Neural Networks Deep Network
Australian Centre for Robotics (ACFR) and the School of Aerospace, Mechanical and Mechatronic Engineering, The University of Sydney, Australia
Dynamic Properties and Motion Reproducibility of a Compact Pneumatically Actuated Humanoid Upper Body for Data-Driven Control
Date pendingHiroshi Atsuta, Hisashi Ishihara, Minoru AsadaFull-Body Humanoid Control Soft Pneumatic Actuators
Symbiotic Intelligent Systems Research Center, Institute for Open and Transdisciplinary Research Initiatives, The University of Osaka, Suita, Osaka, Japan · College of Arts and Design, Ritsumeikan University, Kyoto, Japan · International Professional University of Technology in Osaka, Umeda, Kita-ku, Osaka, Japan +1

Sep 28, 2026, cs.ROJ/K move · Enter open · S save

LQR-ArUco Fusion: Robust Hierarchical Control for Navigation and Asymmetric Manipulation in Two-Wheeled Robots

Anupam Chatterjee, Arpita Kumari

This work was conducted as independent research and received no financial or institutional support from any organization.

Control Architecture Odometry Soft Robotics Navigation Lidar Information Asymmetry

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We propose a hierarchical control framework to address severe dynamic instabilities and navigational drift that arise when a two-wheeled inverted pendulum (TWIP) robot attempts asymmetric object manipulation. While two-wheeled platforms are highly manoeuvrable, their constant balancing adjustments make onboard odometry highly unreliable for precise navigation. Furthermore, the addition of a side-mounted robotic arm introduces unactuated lateral roll moments when a payload is lifted, a challenge heavily compounded on uneven terrain. To solve these coupled problems, our architecture divides the workload. An offboard vision system tracks overhead ArUco markers to provide high-latency global waypoint navigation, bypassing odometry drift. Simultaneously, a low-latency onboard control loop rejects active physical disturbances using inertial and encoder data. In our physical experiments, this dual-loop approach enabled the custom-built robot to navigate accurately, reject transient impacts from speed bumps, adapt to a dynamic seesaw ramp, and carry a payload securely without falling over its narrow wheelbase.

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