Related papers: Rapid Recovery from Robot Failures in Multi-Robot …
Successful applications of sparse models in computer vision and machine learning imply that in many real-world applications, high dimensional data is distributed in a union of low dimensional subspaces. Nevertheless, the underlying…
This article presents a multi-robot trajectory planning method which not only guarantees optimization feasibility and but also resolves deadlocks in obstacle-dense environments. The method is proposed via formulating a recursive…
This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
Many robotic systems must follow planned paths yet pause safely and resume when people or objects intervene. We present an output-space method for systems whose tracked output can be feedback-linearized to a double integrator (e.g.,…
Multi-robot coordination based on large language models (LLMs) has attracted growing attention, since LLMs enable the direct translation of natural language instructions into robot action plans by decomposing tasks and generating high-level…
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,…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Reinforcement Learning (RL) algorithms show amazing performance in recent years, but placing RL in real-world applications such as self-driven vehicles may suffer safety problems. A self-driven vehicle moving to a target position following…
End-to-end visuomotor control is emerging as a compelling solution for robot manipulation tasks. However, imitation learning-based visuomotor control approaches tend to suffer from a common limitation, lacking the ability to recover from an…
Quadrupedal robots have emerged as a cutting-edge platform for assisting humans, finding applications in tasks related to inspection and exploration in remote areas. Nevertheless, their floating base structure renders them susceptible to…
We consider a task of surveillance-evading path-planning in a continuous setting. An Evader strives to escape from a 2D domain while minimizing the risk of detection (and immediate capture). The probability of detection is path-dependent…
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…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
Robots are increasingly entering uncertain and unstructured environments. Within these, robots are bound to face unexpected external disturbances like accidental human or tool collisions. Robots must develop the capacity to respond to…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…
This paper studies a class of multi-robot coordination problems where a team of robots aim to reach their goal regions with minimum time and avoid collisions with obstacles and other robots. A novel numerical algorithm is proposed to…
An autonomous robot with a limited vision range finds a path to the goal in an unknown environment in 2D avoiding polygonal obstacles. In the process of discovering the environmental map, the robot has to return to some positions marked…
The pursuit-evasion problem is widespread in nature, engineering, and societal applications. It is commonly observed in nature that predators often exhibit faster speeds than their prey but have less agile maneuverability. Over millions of…
As robots become increasingly capable of manipulation and long-term autonomy, long-horizon task and motion planning problems are becoming increasingly important. A key challenge in such problems is that early actions in the plan may make…