Related papers: Whole-Body Control with (Self) Collision Avoidance…
Vector field guided path following (VF-PF) algorithms are fundamental in robot navigation tasks, but may not deliver the desirable performance when robots encounter singular points where the vector field becomes zero. The existence of…
Whole-body reactive obstacle avoidance for mobile manipulators (MM) remains an open research problem. Control Barrier Functions (CBF), combined with Quadratic Programming (QP), have become a popular approach for reactive control with safety…
Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging High-Order Control Barrier Functions (HOCBFs) constructed for safe…
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…
In this paper, we propose a safety-critical controller based on time-varying control barrier functions (CBFs) for a robot with an unicycle model in the continuous-time domain to achieve navigation and dynamic collision avoidance. Unlike…
This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed approach exploits arrays of multi zone Time-of-Flight (ToF)…
In this paper, we propose a method to avoid "no-solution" situations of the control barrier function (CBF) for distributed collision avoidance in a multiagent autonomous robotic system (MARS). MARS, which is composed of distributed…
We study the problem of mobile manipulation using legged robots equipped with an arm, namely legged loco-manipulation. The robot legs, while usually utilized for mobility, offer an opportunity to amplify the manipulation capabilities by…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…
In this paper, we propose a new class of Control Barrier Functions (CBFs) for Unmanned Ground Vehicles (UGVs) that help avoid collisions with kinematic (non-zero velocity) obstacles. While the current forms of CBFs have been successful in…
This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid…
Complex robotic systems require whole-body controllers to deal with contact interactions, handle closed kinematic chains, and track task-space control objectives. However, for many applications, safety-critical controllers are important to…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…
In this paper, we focus on non-conservative collision avoidance between robots and obstacles with control affine dynamics and convex shapes. System safety is defined using the minimum distance between the safe regions associated with robots…
In recent years, many control problems of autonomous mobile robots have been developed. In particular, the robots are required to be safe; that is, they need to be controlled to avoid colliding with people or objects while traveling. In…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
Incorporating both flexible and rigid components in robot designs offers a unique solution to the limitations of traditional rigid robotics by enabling both compliance and strength. This paper explores the challenges and solutions for…
In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals -- motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be…
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…