Related papers: Extending Flat Motion Planning to Non-flat Systems…

Motion planning and control are two core components of the robotic systems autonomy stack. The standard approach to combine these methodologies comprises an offline/open-loop stage, planning, that designs a feasible and safe trajectory to…

Many widely used models amount to an elaborate means of making up numbers--but once a number has been produced, it tends to be taken seriously and its source (the model) is rarely examined carefully. Many widely used models have little…

Nonlinear model predictive control (NMPC) is a popular strategy for solving motion planning problems, including obstacle avoidance constraints, in autonomous driving applications. Non-smooth obstacle shapes, such as rectangles, introduce…

In this paper, we investigate the problem of enabling a drone to fly through a tilted narrow gap, without a traditional planning and control pipeline. To this end, we propose an end-to-end policy network, which imitates from the traditional…

We propose a global constructibility analysis for a vehicle moving on a planar surface. Assuming that the vehicle follows a trajectory that can be uniquely identified by the sequence of control inputs and by some intermittent ranging…

Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…

We present a general and modular algorithmic framework for path planning of robots. Our framework combines geometric methods for exact and complete analysis of low-dimensional configuration spaces, together with practical, considerably…

Generative models such as diffusion models, excel at capturing high-dimensional distributions with diverse input modalities, e.g. robot trajectories, but are less effective at multi-step constraint reasoning. Task and Motion Planning (TAMP)…

In the classical context of robotic mapping and localization, map matching is typically defined as the task of finding a rigid transformation (i.e., 3DOF rotation/translation on the 2D moving plane) that aligns the query and reference maps…

Mechanical systems naturally evolve on principal bundles describing their inherent symmetries. The ensuing factorization of the configuration manifold into a symmetry group and an internal shape space has provided deep insights into the…

This paper proposes an observer-based framework for solving Partially Observable Markov Decision Processes (POMDPs) when an accurate model is not available. We first propose to use a Moving Horizon Estimation-Model Predictive Control…

Estimates of the approximate factor model are increasingly used in empirical work. Their theoretical properties, studied some twenty years ago, also laid the ground work for analysis on large dimensional panel data models with cross-section…

Model-based reinforcement learning methods often use learning only for the purpose of estimating an approximate dynamics model, offloading the rest of the decision-making work to classical trajectory optimizers. While conceptually simple,…

Successful aerial manipulation largely depends on how effectively a controller can tackle the coupling dynamic forces between the aerial vehicle and the manipulator. However, this control problem has remained largely unsolved as the…

In systems control, the dynamics of a system are governed by modulating its inputs to achieve a desired outcome. For example, to control the thrust of a quad-copter propeller the controller modulates its rotation rate, relying on a…

This article presents some aspects and experience in the use of algebraic manipulation software applied to general relativity. Some years ago certain results were reported using computer algebra platforms, but the growing popularity of…

Modeling folding surfaces with nonzero thickness is of practical interest for mechanical engineering. There are many existing approaches that account for material thickness in folding applications. We propose a new systematic and broadly…

The map-matching is an essential preprocessing step for most of the trajectory-based applications. Although it has been an active topic for more than two decades and, driven by the emerging applications, is still under development. There is…

A key challenge in off-road navigation is that even visually similar terrains or ones from the same semantic class may have substantially different traction properties. Existing work typically assumes no wheel slip or uses the expected…

Recently, a new paradigm named \emph{drifting model} has been proposed for mapping distributions, which achieves the SOTA image generation performance over ImageNet via one-step neural functional evaluation (NFE). The basic idea is to…