Related papers: Alternative Paths Planner (APP) for Provably Fixed…
Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loose axes or de-tracked tracks. Those are errors that go…
The problem of autonomous racing is to navigate through a race course as quickly as possible while not colliding with any obstacles. We approach the autonomous racing problem with the added constraint of not maintaining an updated obstacle…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
In this paper, we investigate the possibility of applying plan transformations to general manipulation plans in order to specialize them to the specific situation at hand. We present a framework for optimizing execution and achieving higher…
This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of…
This paper addresses human-robot collaboration (HRC) challenges of integrating predictions of human activity to provide a proactive-n-reactive response capability for the robot. Prior works that consider current or predicted human poses as…
Circuit discovery is a key step in many mechanistic interpretability pipelines. Current methods, such as Path Patching, are computationally expensive and have limited in-depth circuit analysis for smaller models. In this study, we propose…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
Robotic trajectory planning in dynamic and cluttered environments remains a critical challenge, particularly when striving for both time efficiency and motion smoothness under actuation constraints. Traditional path planner, such as…
In this paper, we address the problem of scheduling a set of robots to complete tasks in a laboratory environment, modelled as a graph, while avoiding collisions. We analyze the dynamic programming algorithm (PA) introduced in…
To increase the speed of operation and reduce operator burden, humanoid robots must be able to function autonomously, even in complex, cluttered environments. For this to be possible, they must be able to quickly and efficiently compute…
Optimal path planning is prone to convergence to local, rather than global, optima. This is often the case for mobile manipulators due to nonconvexities induced by obstacles, robot kinematics and constraints. This paper focuses on planning…
Robots operating in changing environments either predict obstacle changes and/or plan quickly enough to react to them. Predictive approaches require a strong prior about the position and motion of obstacles. Reactive approaches require no…
Task and motion planning (TAMP) frameworks address long and complex planning problems by integrating high-level task planners with low-level motion planners. However, existing TAMP methods rely heavily on the manual design of planning…
With the release of open source datasets such as nuPlan and Argoverse, the research around learning-based planners has spread a lot in the last years. Existing systems have shown excellent capabilities in imitating the human driver…
Time-optimal motion planning of autonomous vehicles in complex environments is a highly researched topic. This paper describes a novel approach to optimize and execute locally feasible trajectories for the maneuvering of a truck-trailer…
Path planning in obstacle-dense environments is a key challenge in robotics, and depends on inferring scene attributes and associated uncertainties. We present a multiple-hypothesis path planner designed to navigate complex environments…
In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…
The research and development of intelligent automation solutions is a ground-breaking point for the factory of the future. A promising and challenging mission is the use of autonomous robot systems to automate tasks in the field of…
In this paper, we propose a new method for multirotor planning in dynamic environments. The environment is represented as a temporal occupancy grid which gives the current as well as the future/predicted state of all the obstacles. The…