Related papers: Safe Robot Navigation in Cluttered Environments us…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Unmanned aerial vehicle (UAV) use continues to increase, including operating beyond line of sight in unknown environments where the vehicle must autonomously generate a trajectory to safely navigate. In this article, we develop a trajectory…
This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
In this work, we present a learning-based pipeline to realise local navigation with a quadrupedal robot in cluttered environments with static and dynamic obstacles. Given high-level navigation commands, the robot is able to safely locomote…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
Robot navigation in dynamic, crowded environments poses a significant challenge due to the inherent uncertainties in the obstacle model. In this work, we propose a risk-adaptive approach based on the Conditional Value-at-Risk Barrier…
This work studies the design of safe control policies for large-scale non-linear systems operating in uncertain environments. In such a case, the robust control framework is a principled approach to safety that aims to maximize the…
We rely on Nagumo's invariance theorem to develop a new approach for navigation in unknown environments of arbitrary dimension. The idea consists in projecting the nominal velocities (that would drive the robot to the target in the absence…
Mission planning can often be formulated as a constrained control problem under multiple path constraints (i.e., safety constraints) and budget constraints (i.e., resource expenditure constraints). In a priori unknown environments,…
Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…
Although quadrotor navigation has achieved high performance in trajectory planning and control, real-time adaptability in unknown complex environments remains a core challenge. This difficulty mainly arises because most existing planning…
Accurate path following is challenging for autonomous robots operating in uncertain environments. Adaptive and predictive control strategies are crucial for a nonlinear robotic system to achieve high-performance path following control. In…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
Navigating autonomous underwater vehicles (AUVs) in unknown environments is significantly challenging due to poor visibility, weak signal transmission, and dynamic water currents. These factors pose challenges in accurate global…
This paper deals with the problem of time-constrained navigation of a robot modeled by uncertain nonlinear non-affine dynamics in a bounded workspace of $\mathbb{R}^n$. Initially, we provide a novel class of robust feedback controllers that…
We study the problem of \textit{safe control of linear dynamical systems corrupted with non-stochastic noise}, and provide an algorithm that guarantees (i) zero constraint violation of convex time-varying constraints, and (ii) bounded…
Ensuring safe behavior for automated vehicles in unregulated traffic areas poses a complex challenge for the industry. It is an open problem to provide scalable and certifiable solutions to this challenge. We derive a trajectory planner…
Uncertainty in control and perception poses challenges for autonomous vehicle navigation in unstructured environments, leading to navigation failures and potential vehicle damage. This paper introduces a framework that minimizes control and…