Related papers: Affine trajectory correction for nonholonomic mobi…
We investigate methods to calibrate the non-common path aberrations at an adaptive optics system having a wavefront-correcting device working at an extremely high resolution (larger than 150x150). We use focal-plane images collected…
High force/torque (F/T) sensor calibration accuracy is crucial to achieving successful force estimation/control tasks with humanoid robots. State-of-the-art affine calibration models do not always approximate correctly the physical…
We describe a method for formation-change trajectory planning for large quadrotor teams in obstacle-rich environments. Our method decomposes the planning problem into two stages: a discrete planner operating on a graph representation of the…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…
This paper presents a generic trajectory planning method for wheeled robots with fixed steering axes while the steering angle of each wheel is constrained. In the existing literatures, All-Wheel-Steering (AWS) robots, incorporating modes…
The objective function used in trajectory optimization is often non-convex and can have an infinite set of local optima. In such cases, there are diverse solutions to perform a given task. Although there are a few methods to find multiple…
In this paper, we propose a robust and efficient quadrotor motion planning system for fast flight in 3-D complex environments. We adopt a kinodynamic path searching method to find a safe, kinodynamic feasible and minimum-time initial…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints…
Nonprehensile actions such as pushing are crucial for addressing multi-object rearrangement problems. Many traditional methods generate robot-centric actions, which differ from intuitive human strategies and are typically inefficient. To…
We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
Rectifying the orientation of images represents a daily task for every photographer. This task may be complicated even for the human eye, especially when the horizon or other horizontal and vertical lines in the image are missing. In this…
We study the problem of planning collision-free paths for a group of homogeneous robots. We propose a novel approach for turning the paths that were planned egocentrically by the robots, e.g. without taking other robots' moves into account,…
In this paper we propose a method to improve the accuracy of trajectory optimization for dynamic robots with intermittent contact by using orthogonal collocation. Until recently, most trajectory optimization methods for systems with…
This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…
Although robotic manipulators are used in an ever-growing range of applications, robot manufacturers typically follow a ``one-fits-all'' philosophy, employing identical manipulators in various settings. This often leads to suboptimal…
In this paper, a real-time quasi-optimal trajectory planning scheme is employed to guide an autonomous underwater vehicle (AUV) safely into a funnel-shape stationary docking station. By taking advantage of the direct method of calculus of…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long distances, total stations provide accurate and precise…