Related papers: Chasing Puppies: Mobile Beacon Routing on Closed C…
The paper presents the method of attractive cylinders -- a generalization of the atrractive ellipsoid method to the cases of tracking and observation. Based on the developed method, an algorithm for calculating the parameters of the…
This paper addresses the problem of pushing manipulation with nonholonomic mobile robots. Pushing is a fundamental skill that enables robots to move unwieldy objects that cannot be grasped. We propose a stable pushing method that maintains…
Studying animal locomotion improves our understanding of motor control and aids in the treatment of motor impairment. Mice are a premier model of human disease and are the model system of choice for much of basic neuroscience. High frame…
We implemented a system able to locate people indoor, with the purpose of providing assistive services. Such approach is particularly important for the Art, for providing information on exhibitions, art galleries and museums, and to allow…
Quadrupedal animals can perform agile and playful tasks while interacting with real-world objects. For instance, a trained dog can track and catch a flying frisbee before it touches the ground, while a cat left alone at home may leap to…
We study self-approaching paths that are contained in a simple polygon. A self-approaching path is a directed curve connecting two points such that the Euclidean distance between a point moving along the path and any future position does…
We propose to synthesize feasible caging grasps for a target object through computing Caging Loops, a closed curve defined in the shape embedding space of the object. Different from the traditional methods, our approach decouples caging…
Robot person following (RPF) is a core capability in human-robot interaction, enabling robots to assist users in daily activities, collaborative work, and other service scenarios. However, achieving practical RPF remains challenging due to…
Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the speed and precision of following a reference path. For…
Various pipes are extensively used in both industrial settings and daily life, but the pipe inspection especially those with narrow sizes are still very challenging with tremendous time and manufacturing consumed. Quadrupedal robots,…
In order to develop provably safe human-in-the-loop systems, accurate and precise models of human behavior must be developed. In the case of intelligent vehicles, one can imagine the need for predicting driver behavior to develop minimally…
We consider the following generalization of the classical pursuit-evasion problem, which we call k-capture. A group of n pursuers (hyenas) wish to capture an evader (lion) who is free to move in an m-dimensional Euclidean space, the…
Suppose an escaping player ("human") moves continuously at maximum speed $1$ in the interior of a region, while a pursuing player ("zombie") moves continuously at maximum speed $r$ outside the region. For what $r$ can the first player…
This paper introduces the correlated arc orienteering problem (CAOP), where the task is to find routes for a team of robots to maximize the collection of rewards associated with features in the environment. These features can be…
We study a pursuit-evasion problem which can be viewed as an extension of the keep-away game. In the game, pursuer(s) will attempt to intersect or catch the evader, while the evader can visit a fixed set of locations, which we denote as the…
Learning strategic robot behavior -- like that required in pursuit-evasion interactions -- under real-world constraints is extremely challenging. It requires exploiting the dynamics of the interaction, and planning through both physical…
Predicting future behavior of the surrounding vehicles is crucial for self-driving platforms to safely navigate through other traffic. This is critical when making decisions like crossing an unsignalized intersection. We address the problem…
This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…
This study investigates the problem of traveling salesman problem with circular neighborhood (TSPCN). Instead of cities there are circles and each point on circle can be a potential visiting node. The problem is to find the minimum length…
Let $B$ be a point robot moving in the plane, whose path is constrained to forward motions with curvature at most one, and let $P$ be a convex polygon with $n$ vertices. Given a starting configuration (a location and a direction of travel)…