Related papers: Bilevel Optimization for Planning through Contact:…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
Practical global path planning is critical for commercializing cleaning robots working in semi-structured environments. In the literature, global path planning methods for free space usually focus on path length and neglect the traffic rule…
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…
When faced with multiple minima of an "inner-level" convex optimization problem, the convex bilevel optimization problem selects an optimal solution which also minimizes an auxiliary "outer-level" convex objective of interest. Bilevel…
This paper studies a class of simple bilevel optimization problems where we minimize a composite convex function at the upper-level subject to a composite convex lower-level problem. Existing methods either provide asymptotic guarantees for…
Linear models for control and motion generation of humanoid robots have received significant attention in the past years, not only due to their well known theoretical guarantees, but also because of practical computational advantages.…
Trajectory optimization methods have achieved an exceptional level of performance on real-world robots in recent years. These methods heavily rely on accurate analytical models of the dynamics, yet some aspects of the physical world can…
Bilevel optimization has been developed for many machine learning tasks with large-scale and high-dimensional data. This paper considers a constrained bilevel optimization problem, where the lower-level optimization problem is convex with…
This paper presents a multi-contact motion adaptation framework that enables teleoperation of high degree-of-freedom (DoF) robots, such as quadrupeds and humanoids, for loco-manipulation tasks in multi-contact settings. Our proposed…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
We propose an output feedback control-based motion planning technique for agents to enable them to converge to a specified polynomial trajectory while imposing a set of safety constraints on our controller to avoid collisions within the…
In this paper, we consider a robot navigation problem in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction. This is because they may drive…
In this paper we present a method for automatically generating optimal robot trajectories satisfying high level mission specifications. The motion of the robot in the environment is modeled as a general transition system, enhanced with…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…
Parameterizing finger rolling and finger-object contacts in a differentiable manner is important for formulating dexterous manipulation as a trajectory optimization problem. In contrast to previous methods which often assume simplified…
Autonomous exploration is an application of growing importance in robotics. A promising strategy is ergodic trajectory planning, whereby an agent spends in each area a fraction of time which is proportional to its probability information…
Contact-implicit trajectory optimization offers an appealing method of automatically generating complex and contact-rich behaviors for robot manipulation and locomotion. The scalability of such techniques has been limited, however, by the…
Kitting refers to the task of preparing and grouping necessary parts and tools (or "kits") for assembly in a manufacturing environment. Automating this process simplifies the assembly task for human workers and improves efficiency. Existing…
In this paper, we present an efficient Dynamic Programing framework for optimal planning and control of legged robots. First we formulate this problem as an optimal control problem for switched systems. Then we propose a multi--level…