Related papers: Reachable Sets for Safe, Real-Time Manipulator Tra…
Safe navigation in cluttered environments is an important challenge for autonomous systems. Robots navigating through obstacle ridden scenarios need to be able to navigate safely in the presence of obstacles, goals, and ego objects of…
Recent analyses highlight challenges in autonomous vehicle technologies, particularly failures in decision-making under dynamic or emergency conditions. Traditional automated driving systems recalculate the entire trajectory in a changing…
Many exciting robotic applications require multiple robots with many degrees of freedom, such as manipulators, to coordinate their motion in a shared workspace. Discovering high-quality paths in such scenarios can be achieved, in principle,…
This work adds on to the on-going efforts to provide more autonomy to space robots. Here the concept of programming by demonstration or imitation learning is used for trajectory planning of manipulators mounted on small spacecraft. For…
A key challenge in fast ground robot navigation in 3D terrain is balancing robot speed and safety. Recent work has shown that 2.5D maps (2D representations with additional 3D information) are ideal for real-time safe and fast planning.…
Trajectory Planning is a crucial word in Modern & Advanced Robotics. It's a way of generating a smooth and feasible path for the robot to follow over time. The process primarily takes several factors to generate the path, such as velocity,…
Although communication delays can disrupt multiagent systems, most of the existing multiagent trajectory planners lack a strategy to address this issue. State-of-the-art approaches typically assume perfect communication environments, which…
We investigate methods to provide safety assurances for autonomous agents that incorporate predictions of other, uncontrolled agents' behavior into their own trajectory planning. Given a learning-based forecasting model that predicts…
We investigate a multi-agent planning problem, where each agent aims to achieve an individual task while avoiding collisions with others. We assume that each agent's task is expressed as a Time-Window Temporal Logic (TWTL) specification…
In logistics, the ability to quickly compute and execute pick-and-place motions from bins is critical to increasing productivity. We present Bin-Optimized Motion Planning (BOMP), a motion planning framework that plans arm motions for a…
Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on…
In a human-robot interaction system, the most important thing to consider is the safety of the user. This must be guaranteed in order to implement a reliable system. The main objective of this paper is to generate a safe motion scheme that…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
Despite large advances in recent years, real-time capable motion planning for autonomous road vehicles remains a huge challenge. In this work, we present a decision module that is based on set-based reachability analysis: First, we identify…
In urban cities, with increasing acceptability of shared spaces used by pedestrians and personal mobility devices (PMDs), there is need for pragmatic socially ac-ceptable path planning and navigation management policies. Hence, we propose a…
Since humans and robots are increasingly sharing portions of their operational spaces, experimental evidence is needed to ascertain the safety and social acceptability of robots in human-populated environments. Although several studies have…
Communication delays can be catastrophic for multiagent systems. However, most existing state-of-the-art multiagent trajectory planners assume perfect communication and therefore lack a strategy to rectify this issue in real-world…
A significant challenge in motion planning is to avoid being in or near \emph{singular configurations} (\textit{singularities}), that is, joint configurations that result in the loss of the ability to move in certain directions in task…
Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…
In this paper, we investigate the operation of an aerial manipulator system, namely an Unmanned Aerial Vehicle (UAV) equipped with a controllable arm with two degrees of freedom to carry out actuation tasks on the fly. Our solution is based…