Related papers: Hybrid Feedback for Autonomous Navigation in Envir…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…

Autonomous robots that are capable of operating safely in the presence of imperfect model knowledge or external disturbances are vital in safety-critical applications. In this paper, we present a planner-agnostic framework to design and…

Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…

Transporting large and heavy objects can benefit from Human-Robot Collaboration (HRC), increasing the contribution of robots to our daily tasks and reducing the risk of injuries to the human operator. This approach usually posits the human…

Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…

We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…

We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However,…

This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…

As a simple and robust mobile robot base, differential drive robots that can be modelled as a kinematic unicycle find significant applications in logistics and service robotics in both industrial and domestic settings. Safe robot navigation…

We present a hierarchical control approach for maneuvering an autonomous vehicle (AV) in tightly-constrained environments where other moving AVs and/or human driven vehicles are present. A two-level hierarchy is proposed: a high-level…

This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple…

This paper investigates a sample-based solution to the hybrid mode control problem across non-differentiable and algorithmic hybrid modes. Our approach reasons about a set of hybrid control modes as an integer-based optimization problem…

This paper presents a novel feedback method on the motion planning for unicycle robots in environments with static obstacles, along with an extension to the distributed planning and coordination in multi-robot systems. The method employs a…

To verify the correct operation of systems, engineers need to determine the set of configurations of a dynamical model that are able to safely reach a specified configuration under a control law. Unfortunately, constructing models for…

In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…

This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…

Autonomous wheeled-legged robots have the potential to transform logistics systems, improving operational efficiency and adaptability in urban environments. Navigating urban environments, however, poses unique challenges for robots,…

As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…

In the last years, a growing number of challenging applications in navigation, logistics, and tourism were modeled as orienteering problems. This problem has been proposed in relation to a sport race where certain control points must be…