Related papers: Automating Geometric Proofs of Collision Avoidance…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…

Real-time control is an essential aspect of safe robot operation in the real world with dynamic objects. We present a framework for the analysis of object-aware controllers, methods for altering a robot's motion to anticipate and avoid…

Earlier work has established a decentralized optimal control framework for coordinating online a continuous flow of connected automated vehicles (CAVs) entering a control zone and crossing two adjacent intersections in an urban area. A…

Fixed-wing UAVs have transformed the transportation system with their high flight speed and long endurance, yet their safe operation in increasingly cluttered environments depends heavily on effective collision avoidance techniques. This…

When pushing the speed limit for aggressive off-road navigation on uneven terrain, it is inevitable that vehicles may become airborne from time to time. During time-sensitive tasks, being able to fly over challenging terrain can also save…

Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…

Several approaches have been proposed in the literature that allow connected and automated vehicles (CAVs) to coordinate in areas where there is a potential conflict, for example, in intersections, merging at roadways and roundabouts. In…

Highway merges present difficulties for human drivers and automated vehicles due to incomplete situational awareness and a need for a structured (precedence, order) environment, respectively. In this paper, an unstructured merge algorithm…

In this paper we consider the problem of navigation and motion control in an area densely populated with other agents. We propose an algorithm that, without explicit communication and based on the information it has, computes the best…

To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…

A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…

In autonomous driving applications a critical challenge is to identify action to take to avoid an obstacle on collision course. For example, when a heavy object is suddenly encountered it is critical to stop the vehicle or change the lane…

Reinforcement learning can enable complex, adaptive behavior to be learned automatically for autonomous robotic platforms. However, practical deployment of reinforcement learning methods must contend with the fact that the training process…

We consider the problem of computing safety regions, modeled as nonconvex backward reachable sets, for a nonlinear car collision avoidance model with time-dependent obstacles. The Hamilton-Jacobi-Bellman framework is used. A new formulation…

This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…

We design a controller for an agent whose mission is to reach a stationary target while avoiding a family of obstacles which are not known a-priori. The agent moves in the two dimensional plane with non-trivial double integrator dynamics…

As autonomous vehicles (AVs) inch closer to reality, a central requirement for acceptance will be earning the trust of humans in everyday driving situations. In particular, the interaction between AVs and pedestrians is of high importance,…

Collision avoidance can be checked in explicit environment models such as elevation maps or occupancy grids, yet integrating such models with a locomotion policy requires accurate state estimation. In this work, we consider the question of…

Traffic collision avoidance systems (TCAS) are used in order to avoid incidences of mid-air collisions between aircraft. We present a game-theoretic approach of a TCAS designed for autonomous unmanned aerial vehicles (UAVs). A variant of…

We present a novel algorithm for computing collision-free navigation for heterogeneous road-agents such as cars, tricycles, bicycles, and pedestrians in dense traffic. Our approach currently assumes the positions, shapes, and velocities of…