Related papers: Fast and Bounded Probabilistic Collision Detection…
In this work, we propose a novel motion planning algorithm to facilitate safety-critical navigation for autonomous mobile robots. The proposed algorithm integrates a real-time dynamic obstacle tracking and mapping system that categorizes…
With the development of human space exploration, the space environment is gradually filled with abandoned satellite debris and unknown micrometeorites, which will seriously affect capture motion of space robot. Hence, a novel fast…
Robotic manipulators operating in dynamic and uncertain environments require efficient motion planning to navigate obstacles while maintaining smooth trajectories. Velocity Potential Field (VPF) planners offer real-time adaptability but…
One of the fundamental challenges in realizing the potential of legged robots is generating plans to traverse challenging terrains. Control actions must be carefully selected so the robot will not crash or slip. The high dimensionality of…
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…
Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…
In this paper, the collision avoidance problem for non-holonomic robots moving at constant linear speeds in the 2-D plane is considered. The maneuvers to avoid collisions are designed using dynamic vortex potential fields (PFs) and their…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…
This paper demonstrates that collision detection-intensive applications such as robotic motion planning may be accelerated by performing collision checks with a machine learning model. We propose Fastron, a learning-based algorithm to model…
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…
Multi-robot task allocation is a ubiquitous problem in robotics due to its applicability in a variety of scenarios. Adaptive task-allocation algorithms account for unknown disturbances and unpredicted phenomena in the environment where…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…
Navigation and motion control of a robot to a destination are tasks that have historically been performed with the assumption that contact with the environment is harmful. This makes sense for rigid-bodied robots where obstacle collisions…
Obstacle avoidance is central to safe navigation, especially for robots with arbitrary and nonconvex geometries operating in cluttered environments. Existing Control Barrier Function (CBF) approaches often rely on analytic clearance…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
We propose a planning and control approach to physics-based manipulation. The key feature of the algorithm is that it can adapt to the accuracy requirements of a task, by slowing down and generating `careful' motion when the task requires…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
Motion planning is a central challenge in robotics, with learning-based approaches gaining significant attention in recent years. Our work focuses on a specific aspect of these approaches: using machine-learning techniques, particularly…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…