Related papers: Safe Coverage of Moving Domains for Vehicles with …
We address the problem of robust safety control design for double integrator systems. We show that, when the constraints are defined only on position states, it is possible to construct a safe sliding domain from the dynamic of a simple…
Trajectory planning in dense, interactive traffic scenarios presents significant challenges for autonomous vehicles, primarily due to the uncertainty of human driver behavior and the non-convex nature of collision avoidance constraints.…
We present a method for optimal coordination of multiple vehicle teams when multiple endpoint configurations are equally desirable, such as seen in the autonomous assembly of formation flight. The individual vehicles' positions in the…
Autonomous navigation requires planning to reach a goal safely and efficiently in complex and potentially dynamic environments. Graph search-based algorithms are widely adopted due to their generality and theoretical guarantees when…
This letter investigates the motion control problem of two mobile robots under allowable collisions. Here, the allowable collisions mean that the collisions do not damage the mobile robots. The occurrence of the collisions is discussed and…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
This work in progress considers reachability-based safety analysis in the domain of autonomous driving in multi-agent systems. We formulate the safety problem for a car following scenario as a differential game and study how different…
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…
Hamilton-Jacobi (HJ) reachability analysis is an important formal verification method for guaranteeing performance and safety properties of dynamical systems; it has been applied to many small-scale systems in the past decade. Its…
Racing demands each vehicle to drive at its physical limits, when any safety infraction could lead to catastrophic failure. In this work, we study the problem of safe reinforcement learning (RL) for autonomous racing, using the vehicle's…
Action anticipation, intent prediction, and proactive behavior are all desirable characteristics for autonomous driving policies in interactive scenarios. Paramount, however, is ensuring safety on the road -- a key challenge in doing so is…
It has long been a prominent challenge in multi-agent systems to achieve distributed coverage of non-convex annulus environments while ensuring workload equalization among agents. To address this challenge, a distributed circumferential…
This article examines the problem of area coverage for a network of mobile robots with imprecise agent localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…
Two different aspects of formation control of multiple agents subjected to linear transformation have been addressed in this paper. We consider a set of complex single integrator systems so that the dimension of the system reduces to half…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
This research investigates decentralized control of mobile robots specifically for coverage problems. There are different approaches associated with decentralized control strategy for coverage control problems. We perform a comparative…
In this paper, we investigate how heterogeneous multi-robot systems with different sensing capabilities can observe a domain with an apriori unknown density function. Common coverage control techniques are targeted towards homogeneous teams…
This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…
This article examines the area coverage problem for a network of mobile robots with imprecise agents' localization. Each robot has uniform radial sensing ability, governed by first order kinodynamics. The convex-space is partitioned based…
Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in…