Related papers: Observability-Aware Trajectory Optimization: Theor…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
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.,…
Modeling dynamical systems is crucial across the science and engineering fields for accurate prediction, control, and decision-making. Recently, machine learning (ML) approaches, particularly neural ordinary differential equations (NODEs),…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
Legibility of robot motion is critical in human-robot interaction, as it allows humans to quickly infer a robot's intended goal. Although traditional trajectory generation methods typically prioritize efficiency, they often fail to make the…
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…
For safety of autonomous driving, vehicles need to be able to drive under various lighting, weather, and visibility conditions in different environments. These external and environmental factors, along with internal factors associated with…
This paper proposes an inverse optimal control method which enables a robot to incrementally learn a control objective function from a collection of trajectory segments. By saying incrementally, it means that the collection of trajectory…
Service robots can help with many of our daily tasks, especially in those cases where it is inconvenient or unsafe for us to intervene: e.g., under extreme weather conditions or when social distance needs to be maintained. However, before…
In this work we present a trajectory Optimization framework for whole-body motion planning through contacts. We demonstrate how the proposed approach can be applied to automatically discover different gaits and dynamic motions on a…
Estimating terrain traversability in off-road environments requires reasoning about complex interaction dynamics between the robot and these terrains. However, it is challenging to create informative labels to learn a model in a supervised…
The dramatic increase of observational data across industries provides unparalleled opportunities for data-driven decision making and management, including the manufacturing industry. In the context of production, data-driven approaches can…
Autonomous and semi-autonomous vehicles' perception algorithms can encounter situations with erroneous object detection, such as misclassification of objects on the road, which can lead to safety violations and potentially fatal…
To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The process begins with trajectory optimization to design an…
With the rapid development of simulation tools, the development and validation of autonomous robotic systems have become more efficient before real-world deployment. This paper presents a simulation-to-real implementation of an autonomous…
Traversing terrain with good traction is crucial for achieving fast off-road navigation. Instead of manually designing costs based on terrain features, existing methods learn terrain properties directly from data via self-supervision to…
We propose a strategy for optimizing a sensor trajectory in order to estimate the time dependence of a localized scalar source in turbulent channel flow. The approach leverages the view of the adjoint scalar field as the sensitivity of…
Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…
In this paper, we present a concurrent and scalable trajectory optimization method to improve the quality of robot-assisted manufacturing. Our method simultaneously optimizes tool orientations, kinematic redundancy, and waypoint timing on…
Spatio-temporal trajectory analytics is at the core of smart mobility solutions, which offers unprecedented information for diversified applications such as urban planning, infrastructure development, and vehicular networks. Trajectory…