Related papers: Unfreezing Social Navigation: Dynamical Systems ba…
In this paper we consider the problem of controlling the dynamic behavior of a multi-robot system while interacting with the environment. In particular, we propose a general methodology that, by means of locally scaling inter-robot coupling…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single…
Performing swift and agile maneuvers is essential for the safe operation of autonomous mobile robots. Moreover, the presence of time-delay restricts the response time of the system and hinders the safety performance. Thus, this paper…
Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…
Motion control algorithms in the presence of pedestrians are critical for the development of safe and reliable Autonomous Vehicles (AVs). Traditional motion control algorithms rely on manually designed decision-making policies which neglect…
This paper presents three feedback controllers that achieve an asymptotically stable, periodic, and fast walking gait for a 3D (spatial) bipedal robot consisting of a torso, two legs, and passive (unactuated) point feet. The contact between…
In decentralized multi-robot navigation, ensuring safe and efficient movement with limited environmental awareness remains a challenge. While robots traditionally navigate based on local observations, this approach falters in complex…
In human-robot systems, ensuring safety during force control in the presence of both internal and external disturbances is crucial. As a typical loosely coupled floating-base robot system, the supernumerary robotic leg (SRL) system is…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
Pneumatically-actuated anthropomorphic robots with high degrees of freedom (DOF) offer significant potential for physical human-robot interaction. However, precise control of pneumatic actuators is challenging due to their inherent…
COVID-19 pandemic has become a global challenge faced by people all over the world. Social distancing has been proved to be an effective practice to reduce the spread of COVID-19. Against this backdrop, we propose that the surveillance…
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…
Unlike human beings that can employ the entire surface of their limbs as a means to establish contact with their environment, robots are typically programmed to interact with their environments via their end-effectors, in a collision-free…
Collision-free planning is essential for bipedal robots operating within unstructured environments. This paper presents a real-time Model Predictive Control (MPC) framework that addresses both body and foot avoidance for dynamic bipedal…
This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed approach exploits arrays of multi zone Time-of-Flight (ToF)…
Both pedestrian and robot comfort are of the highest priority whenever a robot is placed in an environment containing human beings. In the case of pedestrian-unaware mobile robots this desire for safety leads to the freezing robot problem,…
We propose a safe DRL approach for autonomous vehicle (AV) navigation through crowds of pedestrians while making a left turn at an unsignalized intersection. Our method uses two long-short term memory (LSTM) models that are trained to…
In the field of autonomous robots, reinforcement learning (RL) is an increasingly used method to solve the task of dynamic obstacle avoidance for mobile robots, autonomous ships, and drones. A common practice to train those agents is to use…
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…