Related papers: Robot Adaptation for Generating Consistent Navigat…

We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory…

Animals learn to adapt speed of their movements to their capabilities and the environment they observe. Mobile robots should also demonstrate this ability to trade-off aggressiveness and safety for efficiently accomplishing tasks. The aim…

Nowadays, mobile robots are deployed in many indoor environments, such as offices or hospitals. These environments are subject to changes in the traversability that often happen by following repeating patterns. In this paper, we investigate…

As automated vehicles are getting closer to becoming a reality, it will become mandatory to be able to characterise the performance of their obstacle detection systems. This validation process requires large amounts of ground-truth data,…

Robust and flexible leader-following is a critical capability for robots to integrate into human society. While existing methods struggle to generalize to leaders of arbitrary form and often fail when the leader temporarily leaves the…

In this paper, an online adaptation algorithm for bipedal walking on uneven surfaces with height uncertainty is proposed. In order to generate walking patterns on flat terrains, the trajectories in the task space are planned to satisfy the…

There is a growing demand for mobile robots to operate in more variable environments, where guaranteeing safe robot navigation is a priority, in addition to time performance. To achieve this, current solutions for local planning use a…

Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…

Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…

Robot social navigation needs to adapt to different human factors and environmental contexts. However, since these factors and contexts are difficult to predict and cannot be exhaustively enumerated, traditional learning-based methods have…

Multi-robot coordination is crucial for autonomous systems, yet real-world deployments often encounter various failures. These include both temporary and permanent disruptions in sensing and communication, which can significantly degrade…

Developing bipedal robots capable of traversing diverse real-world terrains presents a fundamental robotics challenge, as existing methods using predefined height maps and static environments fail to address the complexity of unstructured…

Autonomous robots navigating in off-road terrain like forests open new opportunities for automation. While off-road navigation has been studied, existing work often relies on clearly delineated pathways. We present a method allowing for…

One of the great promises of robot learning systems is that they will be able to learn from their mistakes and continuously adapt to ever-changing environments. Despite this potential, most of the robot learning systems today are deployed…

Robotic spacecraft have helped expand our reach for many planetary exploration missions. Most ground mobile planetary exploration robots use wheeled or modified wheeled platforms. Although extraordinarily successful at completing intended…

Formation control of wheeled mobile robots (WMRs) has been extensively studied due to its broad applications in fields such as logistics transportation, environmental monitoring, and search and rescue. However, most existing works mainly…

Sensorimotor contingency theory offers a promising account of the nature of perception, a topic rarely addressed in the robotics community. We propose a developmental framework to address the problem of the autonomous acquisition of…

In this paper we address the problem of robot movement adaptation under various environmental constraints interactively. Motion primitives are generally adopted to generate target motion from demonstrations. However, their generalization…

Safely deploying robots in uncertain and dynamic environments requires a systematic accounting of various risks, both within and across layers in an autonomy stack from perception to motion planning and control. Many widely used motion…

Modern industrial applications require robots to be able to operate in unpredictable environments, and programs to be created with a minimal effort, as there may be frequent changes to the task. In this paper, we show that genetic…