Related papers: Obstacle Avoidance via Hybrid Feedback
This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in…
This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…
Parking a vehicle in tight spaces is a challenging task to perform due to the scarcity of feasible paths that are also collision-free. This paper presents a strategy to tackle this kind of maneuver with a modified Hybrid-A* path-planning…
As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…
In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-level control schemes. However, additionally integrating…
This paper solves the problem of station-keeping control of a surface vessel under conditions of sinusoidal disturbances with unknown parameters. The proposed control algorithm is based on the geometric approach with the use of the adaptive…
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none…
Obstacle avoidance between polytopes is a challenging topic for optimal control and optimization-based trajectory planning problems. Existing work either solves this problem through mixed-integer optimization, relying on simplification of…
Synergistic hybrid feedback refers to a collection of feedback laws that allow for global asymptotic stabilization of a compact set through the following switching logic: given a collection of Lyapunov functions that are indexed by a logic…
This work introduces a novel paradigm for solving optimal control problems for hybrid dynamical systems under uncertainties. Robotic systems having contact with the environment can be modeled as hybrid systems. Controller design for hybrid…
This article presents a state feedback control design strategy for the stabilization of a vehicle along a reference collision avoidance maneuver. The stabilization of the vehicle is achieved through a combination of steering, acceleration…
In this paper, we propose a new control design scheme for solving the obstacle avoidance problem for nonlinear driftless control-affine systems. The class of systems under consideration satisfies controllability conditions with iterated Lie…
We introduce an alternative approach for the analysis and numerical approximation of the optimal feedback control mapping. It consists in looking at a typical optimal control problem in such a way that feasible controls are mappings…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
This paper introduces a novel solution to the manual control challenge for indoor blimps. The problem's complexity arises from the conflicting demands of executing human commands while maintaining stability through automatic control for…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…