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Robots operate in environments with varying implicit structure. For instance, a helicopter flying over terrain encounters a very different arrangement of obstacles than a robotic arm manipulating objects on a cluttered table top.…
Planning collision-free paths for multi-robot systems (MRS) is a challenging problem because of the safety and efficiency constraints required for real-world solutions. Even though coupled path planning approaches provide optimal…
This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of…
Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape -- an octahedron. These robots consist of independent triangles that can change shape…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
A group $G$ has cube-free order if no prime to the third power divides $|G|$. We describe an algorithm that given two cube-free groups $G$ and $H$ of known order, decides whether $G\cong H$, and, if so, constructs an isomorphism $G\to H$.…
Quadratic programming (QP) underpins real-time robotics by enabling efficient, constrained optimization in state estimation, motion planning, and control. In legged locomotion and manipulation, essential modules like inverse dynamics, Model…
Shifting from traditional control strategies to Deep Reinforcement Learning (RL) for legged robots poses inherent challenges, especially when addressing real-world physical constraints during training. While high-fidelity simulations…
In this paper we consider the problem of constructing numerical algorithms for approximating of convex compact bodies in d-dimensional Euclidean space by polytopes with any given accuracy. It is well known that optimal with respect to the…
This paper presents an approach for approximating the reachable space of robotic manipulators based on convex polytopes. The proposed approach predicts the reachable space over a given time horizon based on the robot's actuation limits and…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
Deep reinforcement learning has shown its advantages in real-time decision-making based on the state of the agent. In this stage, we solved the task of using a real robot to manipulate the cube to a given trajectory. The task is broken down…
Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting humancentered robot control, where the robot continuously adapts its assistance level based on the real-time need of its human counterpart. One…
Quadratic Programs (QPs) have become a mature technology for the control of robots of all kinds, including humanoid robots. One aspect has been largely overlooked, however, which is the accuracy with which these QPs should be solved. QP…
This paper presents a deterministic algorithm for forming a given asymmetric pattern in finite time by a set of autonomous, homogeneous, oblivious mobile robots under the CORDA model. The robots are represented as points on the 2D plane.…
To reliably model real robot characteristics, interval linear systems of equations allow to describe families of problems that consider sets of values. This allows to easily account for typical complexities such as sets of joint states and…
Multi-Agent Path Finding (MAPF) remains a fundamental challenge in robotics, where classical centralized approaches exhibit exponential growth in joint-state complexity as the number of agents increases. This paper investigates Quadratic…
Assembly of large scale structural systems in space is understood as critical to serving applications that cannot be deployed from a single launch. Recent literature proposes the use of discrete modular structures for in-space assembly and…
Many statistical models are algebraic in that they are defined by polynomial constraints or by parameterizations that are polynomial or rational maps. This opens the door for tools from computational algebraic geometry. These tools can be…
This paper studies the saddle point problem of polynomials. We give an algorithm for computing saddle points. It is based on solving Lasserre's hierarchy of semidefinite relaxations. Under some genericity assumptions on defining…