Related papers: Moving robots efficiently using the combinatorics …
We investigate algorithmic control of a large swarm of mobile particles (such as robots, sensors, or building material) that move in a 2D workspace using a global input signal (such as gravity or a magnetic field). We show that a maze of…
Safe Interval Path Planning (SIPP) is a powerful algorithm for solving single-agent pathfinding problem when the agent is confined to a graph and certain vertices/edges of this graph are blocked at certain time intervals due to dynamic…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
An algorithm for robot formation path planning is presented in this paper. Given a map of the working environment, the algorithm finds a path for a formation taking into account possible split of the formation and its consecutive merge. The…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
In robot swarms operating under highly restrictive sensing and communication constraints, individuals may need to use direct physical proximity to facilitate information exchange. However, in certain task-related scenarios, this requirement…
Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…
Let G be a group acting geometrically on a CAT(0) cube complex X. We prove first that G is hyperbolic relative to the collection P of subgroups if and only if the simplicial boundary of X is the disjoint union of a nonempty discrete set,…
In modern production facilities industrial robots and humans are supposed to interact sharing a common working area. In order to avoid collisions, the distances between objects need to be measured conservatively which can be done by a…
In this paper, we propose a novel type of serial robot with minimal actuation. The robot is a serial rigid structure consisting of multiple links connected by passive joints and of movable actuators. The novelty of this robot is that the…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
We present experimental results on the single file motion of a group of robots interacting with each other through position sensors. We successfully replicate the fundamental diagram typical of these systems, with a transition from free…
We propose an approach to trajectory optimization for piecewise polynomial systems based on the recently proposed graphs of convex sets framework. We instantiate the framework with a convex relaxation of optimal control based on occupation…
Robotic arms require precise, task-aware trajectory planning, yet sequence models that ignore motion structure often yield invalid or inefficient executions. We present a Path-based Transformer that encodes robot motion with a 3-grid…
This article aims to bring quantum computing to robotics. A quantum algorithm is developed to minimize the distance travelled in warehouses and distribution centres where order picking is applied. For this, a proof of concept is proposed…
This paper presents a hierarchical control strategy based on hybrid systems theory, nonlinear control, and safety-critical systems to enable cooperative locomotion of robotic guide dogs and visually impaired people. We address…
In environments where multiple robots must coordinate in a shared space, decentralized approaches allow for decoupled planning at the cost of global guarantees, while centralized approaches make the opposite trade-off. These solutions make…
Motion control is essential for all autonomous mobile robots, and even more so for spherical robots. Due to the uniqueness of the spherical robot, its motion control must not only ensure accurate tracking of the target commands, but also…
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…