Related papers: Collision Free Navigation with Interacting, Non-Co…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
Avoiding collisions is the core problem in multi-agent navigation. In decentralized settings, when agents have limited communication and sensory capabilities, collisions are typically avoided in a reactive fashion, relying on local…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
This paper considers a two-dimensional persistent monitoring problem by controlling movements of second-order agents to minimize some uncertainty metric associated with targets in a dynamic environment. In contrast to common sensing models…
For robots to be a part of our daily life, they need to be able to navigate among crowds not only safely but also in a socially compliant fashion. This is a challenging problem because humans tend to navigate by implicitly cooperating with…
In this paper, we investigate the fixed-time behavioral control problem for a team of second-order nonlinear agents, aiming to achieve a desired formation with collision/obstacle~avoidance. In the proposed approach, the two behaviors(tasks)…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
Finding feasible and collision-free paths for multiple nonlinear agents is challenging in the decentralized scenarios due to limited available information of other agents and complex dynamics constraints. In this paper, we propose a fast…
This paper considers the problem of localization and circumnavigation of an unknown stationary target by a group of autonomous agents using only local bearing measurements. We assume that no direct communication or exchange of information…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
We consider an intersection zone where autonomous vehicles (AVs) and human-driven vehicles (HDVs) can be present. As a new vehicle arrives, the traffic controller needs to decide and impose an optimal sequence of the vehicles that will exit…
The rapid development of autonomous vehicles spurred a careful investigation of the potential benefits of all-autonomous transportation networks. Most studies conclude that autonomous systems can enable drastic improvements in performance.…
This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…
The ultimate navigation efficiency of mobile robots in human environments will depend on how we will appraise them: merely as impersonal machines or as human-like agents. In the latter case, an agent may take advantage of the cooperative…
Navigation strategies that intentionally incorporate contact with humans (i.e. "contact-based" social navigation) in crowded environments are largely unexplored even though collision-free social navigation is a well studied problem.…
This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…
We propose a reliable intersection control mechanism for strategic autonomous and connected vehicles (agents) in non-cooperative environments. Each agent has access to his/her earliest possible and desired passing times, and reports a…
Decision making in dense traffic can be challenging for autonomous vehicles. An autonomous system only relying on predefined road priorities and considering other drivers as moving objects will cause the vehicle to freeze and fail the…
This paper addresses the problem of navigation control of a general class of uncertain nonlinear multi-agent systems in a bounded workspace of $\mathbb{R}^n$ with static obstacles. In particular, we propose a decentralized control protocol…