Related papers: Methods for Collision-Free Navigation of Multiple …
This paper addresses the problem of navigation control of a general class of 2nd order uncertain nonlinear multi-agent systems in a bounded workspace, which is a subset of $R^3$ , with static obstacles. In particular, we propose a…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…
Connected and automated vehicles provide a new opportunity for highly advanced collision avoidance, in which several cars cooperate to reach an optimal overall outcome, that no single car acting in isolation could achieve. For example, one…
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…
This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework.…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Collision avoidance in unknown obstacle-cluttered environments may not always be feasible. This paper focuses on an emerging paradigm shift in which potential collisions with the environment can be harnessed instead of being avoided…
Decentralized control of robots has attracted huge research interests. However, some of the research used unrealistic assumptions without collision avoidance. This report focuses on the collision-free control for multiple robots in both…
We propose a Model Predictive Control (MPC) for collision avoidance between an autonomous agent and dynamic obstacles with uncertain predictions. The collision avoidance constraints are imposed by enforcing positive distance between convex…
Decentralized multi-agent navigation under uncertainty is a complex task that arises in numerous robotic applications. It requires collision avoidance strategies that account for both kinematic constraints, sensing and action execution…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…
This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…
The development of connected and automated vehicles is the key to improving urban mobility safety and efficiency. This paper focuses on cooperative vehicle management at a signal-free intersection with consideration of vehicle modeling…