Related papers: Planning for the Unexpected: Explicitly Optimizing…
Aerospace production volumes have increased over time and robotic solutions have been progressively introduced in the aeronautic assembly lines to achieve high-quality standards, high production rates, flexibility and cost reduction.…
Locomotion planning for legged systems requires reasoning about suitable contact schedules. The contact sequence and timings constitute a hybrid dynamical system and prescribe a subset of achievable motions. State-of-the-art approaches cast…
Complex motions for robots are frequently generated by switching among a collection of individual movement primitives. We use this approach to formulate robot motion plans as sequences of primitives to be executed one after the other. When…
Constrained motion planning is a common but challenging problem in robotic manipulation. In recent years, data-driven constrained motion planning algorithms have shown impressive planning speed and success rate. Among them, the latent…
We present a unified model-based and data-driven approach for quadrupedal planning and control to achieve dynamic locomotion over uneven terrain. We utilize on-board proprioceptive and exteroceptive feedback to map sensory information and…
Legged robots have demonstrated high efficiency and effectiveness in unstructured and dynamic environments. However, it is still challenging for legged robots to achieve rapid and efficient locomotion on deformable, yielding substrates,…
In this paper, we present a novel approach to efficiently generate collision-free optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments. Our approach first employs a graph-based multi-agent path planner…
We develop an algorithm for the motion and task planning of a system comprised of multiple robots and unactuated objects under tasks expressed as Linear Temporal Logic (LTL) constraints. The robots and objects evolve subject to uncertain…
Motion planning framed as optimisation in structured latent spaces has recently emerged as competitive with traditional methods in terms of planning success while significantly outperforming them in terms of computational speed. However,…
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…
This paper proposes a preliminary work on a Conditional Task and Motion Planning algorithm able to find a plan that minimizes robot efforts while solving assigned tasks. Unlike most of the existing approaches that replan a path only when it…
Robust motion planning entails computing a global motion plan that is safe under all possible uncertainty realizations, be it in the system dynamics, the robot's initial position, or with respect to external disturbances. Current approaches…
We introduce a real-time, constrained, nonlinear Model Predictive Control for the motion planning of legged robots. The proposed approach uses a constrained optimal control algorithm known as SLQ. We improve the efficiency of this algorithm…
To dynamically traverse challenging terrain, legged robots need to continually perceive and reason about upcoming features, adjust the locations and timings of future footfalls and leverage momentum strategically. We present a pipeline that…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
This paper studies motion planning of a mobile robot under uncertainty. The control objective is to synthesize a {finite-memory} control policy, such that a high-level task specified as a Linear Temporal Logic (LTL) formula is satisfied…
Air-land bimodal vehicles provide a promising solution for navigating complex environments by combining the flexibility of aerial locomotion with the energy efficiency of ground mobility. However, planning dynamically feasible, smooth,…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…
Floating-base multi-link robots can change their shape during flight, making them well-suited for applications in confined environments such as autonomous inspection and search and rescue. However, trajectory planning for such systems…
In this paper, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR to projected inverse dynamic control for robust motion tracking. In our…