Related papers: Reachable Sets for Safe, Real-Time Manipulator Tra…
Reach-avoid specifications are one of the most common tasks in autonomous aerial vehicle (UAV) applications. Despite the intensive research and development associated with control of aerial vehicles, generating feasible trajectories though…
Generating natural and physically feasible motions for legged robots has been a challenging problem due to its complex dynamics. In this work, we introduce a novel learning-based framework of autoregressive motion planner (ARMP) for…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…
Learning-based 3D object reconstruction enables single- or few-shot estimation of 3D object models. For robotics, this holds the potential to allow model-based methods to rapidly adapt to novel objects and scenes. Existing 3D reconstruction…
Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing methods either assume simplified static environments or…
Legged manipulators, such as quadrupeds equipped with robotic arms, require motion planning techniques that account for their complex kinematic constraints in order to perform manipulation tasks both safely and effectively. However,…
This study proposes a hierarchically integrated framework for safe task and motion planning (TAMP) of bipedal locomotion in a partially observable environment with dynamic obstacles and uneven terrain. The high-level task planner employs…
Robotic manipulators are essential for precise industrial pick-and-place operations, yet planning collision-free trajectories in dynamic environments remains challenging due to uncertainties such as sensor noise and time-varying delays.…
Micro aerial vehicles (MAVs), are frequently used for exploration, examination, and surveillance during search and rescue missions. Manually piloting these robots under stressful conditions provokes pilot errors and can result in crashes…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
We present a receding-horizon optimal control for nonlinear continuous-time systems subject to state constraints. The cost is a quadratic finite-horizon integral. The key enabling technique is a new constrained approximate dynamic…
Complex manipulation tasks require careful integration of symbolic reasoning and motion planning. This problem, commonly referred to as Task and Motion Planning (TAMP), is even more challenging if the workspace is non-static, e.g. due to…
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…
Automation of excavation tasks requires real-time trajectory planning satisfying various constraints. To guarantee both constraint feasibility and real-time trajectory re-plannability, we present an integrated framework for real-time…
In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…
Planning dual-arm assembly of more than three objects is a challenging Task and Motion Planning (TAMP) problem. The assembly planner shall consider not only the pose constraints of objects and robots, but also the gravitational constraints…