Related papers: Hybrid Feedback for Autonomous Navigation in Envir…

While classical approaches to autonomous robot navigation currently enable operation in certain environments, they break down in tightly constrained spaces, e.g., where the robot needs to engage in agile maneuvers to squeeze between…

In this paper, we develop an embodied AI system for human-in-the-loop navigation with a wheeled mobile robot. We propose a direct yet effective method of monitoring the robot's current plan to detect changes in the environment that impact…

Navigation tasks often cannot be defined in terms of a target, either because global position information is unavailable or unreliable or because target location is not explicitly known a priori. This task is then often defined indirectly…

In this paper, we consider a robot navigation problem in environments populated by humans. The goal is to determine collision-free and dynamically feasible trajectories that also maximize human satisfaction. This is because they may drive…

Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…

We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

Momentum methods for convex optimization often rely on precise choices of algorithmic parameters, based on knowledge of problem parameters, in order to achieve fast convergence, as well as to prevent oscillations that could severely…

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…

Obstacle avoidance is an important task in the field of robotics, since the goal of autonomous robot is to reach the destination without collision. Several algorithms have been proposed for obstacle avoidance, having drawbacks and benefits.…

Many researchers around the world are researching to get control solutions that enhance robots' ability to navigate in dynamic environments autonomously. However, until these days robots have limited capability and many navigation tasks on…

Objective-oriented navigation(ObjNav) enables robot to navigate to target object directly and autonomously in an unknown environment. Effective perception in navigation in unknown environment is critical for autonomous robots. While…

We propose a continuous feedback control strategy that steers a point-mass vehicle safely to a desired destination, in a quasi-optimal manner, from almost all initial conditions in an n-dimensional Euclidean space cluttered with spherical…

This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…

Fast and accurate path planning is important for ground robots to achieve safe and efficient autonomous navigation in unstructured outdoor environments. However, most existing methods exploiting either 2D or 2.5D maps struggle to balance…

This technical report presents the construction and analysis of polynomial navigation functions for motion planning in 3-D workspaces populated by spherical and cylindrical obstacles. The workspace is modeled as a bounded spherical region,…

This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…

This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…

This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…

This paper considers the optimal control for hybrid systems whose trajectories transition between distinct subsystems when state-dependent constraints are satisfied. Though this class of systems is useful while modeling a variety of…