Related papers: Stand Up Indulgent Rendezvous
Robotic manipulation research has investigated contact-rich problems and strategies that require robots to intentionally collide with their environment, to accomplish tasks that cannot be handled by traditional collision-free solutions. By…
Current approaches in human-aware or social robot navigation address the humans that are visible to the robot. However, it is also important to address the possible emergences of humans to avoid shocks or surprises to humans and erratic…
In this paper we introduce a Linear Program (LP) based formulation of a Rendezvous game with markers on the infinite line and solve it. In this game one player moves at unit speed while the second player moves at a speed bounded by vmax…
We consider a nonprehensile manipulation task in which a mobile manipulator must balance objects on its end effector without grasping them -- known as the waiter's problem -- and move to a desired location while avoiding static and dynamic…
Despite recent advances in robust locomotion, bipedal robots operating in the real world remain at risk of falling. While most research focuses on preventing such events, we instead concentrate on the phenomenon of falling itself.…
This paper discusses translation and attitude control in spacecraft rendezvous and soft docking. The target spacecraft orbit can be either circular or elliptic. The high fidelity model for this problem is intrinsically a nonlinear system…
Robots with very limited capabilities are placed on the vertices of a graph and are required to move toward a single, common vertex, where they remain stationary once they arrive. This task is referred to as the GATHERING problem. Most of…
Patrolling consists of scheduling perpetual movements of a collection of mobile robots, so that each point of the environment is regularly revisited by any robot in the collection. In previous research, it was assumed that all points of the…
A new approach is presented for the problem of optimal impulsive rendezvous of a spacecraft in an inertial frame near a circular orbit in a Newtonian gravitational field. The total characteristic velocity to be minimized is replaced by a…
We consider the problem of completely covering an unknown discrete environment with a swarm of asynchronous, frequently-crashing autonomous mobile robots. We represent the environment by a discrete graph, and task the robots with occupying…
As in any interaction process, misunderstandings, ambiguity, and failures to correctly understand the interaction partner are bound to happen in human-robot interaction. We term these failures 'conflicts' and are interested in both conflict…
This paper proposes a strategy for a group of deaf and dumb robots, carrying clocks from different countries, to meet at a geographical location which is not fixed in advanced. The robots act independently. They can observe others, compute…
Among fundamental problems in the context of distributed computing by autonomous mobile entities, one of the most representative and well studied is {\sc Point Convergence}: given an arbitrary initial configuration of identical entities,…
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…
Two anonymous mobile agents navigate synchronously in an anonymous graph and have to meet at a node, using a deterministic algorithm. This is a symmetry breaking task called rendezvous, equivalent to the fundamental task of leader election…
In this paper we consider a robot patrolling problem in which events arrive randomly over time at the vertices of a graph. When an event arrives it remains active for a random amount of time. If that time active exceeds a certain threshold,…
If a smooth, closed, and embedded curve is deformed along its normal vector field at a rate proportional to its curvature, it shrinks to a circular point. This curve evolution is called Euclidean curve shortening and the result is known as…
In this study, a single autonomous underwater vehicle (AUV) aims to rendezvous with a submerged leader recovery vehicle through a cluttered and variable operating field. The rendezvous problem is transformed into a nonlinear optimal control…
We develop a Markovian traffic equilibrium model for ride-hailing in which vehicles, whether empty or hired, make sequential order-acceptance and link-choice decisions over a traffic network to maximize total discounted return in an…
Automatic fall recovery is a crucial prerequisite before humanoid robots can be reliably deployed. Hand-designing controllers for getting up is difficult because of the varied configurations a humanoid can end up in after a fall and the…