{"ID":2865663,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.22976","arxiv_id":"2509.22976","title":"Safe Task Space Synchronization with Time-Delayed Information","abstract":"In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory information. The communication time delay may be a result of various factors that arise in human-robot collaboration tasks, such as sensor processing or fusion to estimate trajectory/intent, network delays, or computational limitations. The developed adaptive controller uses Barrier Lyapunov Function (BLF) to constrain the Cartesian coordinates of the robot to ensure safety, an ICL-based adaptive law to account for the unknown kinematics, and a gradient-based adaptive law to estimate unknown dynamics. Barrier Lyapunov-Krasovskii (LK) functionals are used for the stability analysis to show that the synchronization and parameter estimation errors remain semi-globally uniformly ultimately bounded (SGUUB). The simulation results based on a human-robot synchronization scenario with time delay are provided to demonstrate the effectiveness of the designed synchronization controller with safety constraints.","short_abstract":"In this paper, an adaptive controller is designed for the synchronization of the trajectory of a robot with unknown kinematics and dynamics to that of the current human trajectory in the task space using the delayed human trajectory information. The communication time delay may be a result of various factors that arise...","url_abs":"https://arxiv.org/abs/2509.22976","url_pdf":"https://arxiv.org/pdf/2509.22976v1","authors":"[\"Rounak Bhattacharya\",\"Vrithik R. Guthikonda\",\"Ashwin P. Dani\"]","published":"2025-09-26T22:17:37Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SP\",\"eess.SY\"]","methods":"[]","has_code":false}