Electrical and Computer Engineering ETDs

Publication Date

Summer 7-28-2026

Abstract

Multi-robot systems can extend manipulation capabilities beyond the limits of a single robot, particularly for tasks involving large, flexible, delicate, or free-floating payloads. Reliable cooperative manipulation, however, remains difficult when payload dynamics, contact geometry, compliance properties, deformation-induced forces, and external disturbances are only partially known, and when safety constraints must be enforced during physical interaction. This dissertation develops a two-layer control framework for resilient multi-robot manipulation under uncertainty, with emphasis on space servicing, satellite stabilization, aerial transportation, and cooperative manipulation of free-floating structures.

Keywords

Multi-robot system, Control system, MPC, Space system

Project Sponsors

Air Force Research Laboratory

Document Type

Thesis

Language

English

Degree Name

Electrical Engineering

Level of Degree

Doctoral

Department Name

Electrical and Computer Engineering

First Committee Member (Chair)

Rafael Fierro

Second Committee Member

Meeko Oishi

Third Committee Member

Claus Danielson

Fourth Committee Member

Ali Bidram

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