Related papers: Real-time Trajectory Optimization and Control for …
Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…
One of the essential aspects of humanoid robot running is determining the limb-swinging trajectories. During the flight phases, where the ground reaction forces are not available for regulation, the limb swinging trajectories are…
This paper presents a method for path-following for quadcopter trajectories in real time. Non-Linear Guidance Logic is used to find the intercepts of the subsequent destination. Trajectory tracking is implemented by formulating the…
We address the challenge of real-time planning of minimum-time trajectories over multiple waypoints, onboard multirotor UAVs. Previous works demonstrated that achieving a truly time-optimal trajectory is computationally too demanding to…
Bounding is one of the important gaits in quadrupedal locomotion for negotiating obstacles. The authors proposed an effective approach that can learn robust bounding gaits more efficiently despite its large variation in dynamic body…
This paper presents an adaptive, model-based, nonlinear controller for the bicopter trajectory-tracking problem. The nonlinear controller is constructed by dynamically extending the bicopter model, stabilizing the extended dynamics using…
Many robotic systems are underactuated, meaning not all degrees of freedom can be directly controlled due to lack of actuators, input constraints, or state-dependent actuation. This property, compounded by modeling uncertainties and…
This paper studies high-speed online planning in dynamic environments. The problem requires finding time-optimal trajectories that conform to system dynamics, meeting computational constraints for real-time adaptation, and accounting for…
Robot motion planning involves computing a sequence of valid robot configurations that take the robot from its initial state to a goal state. Solving a motion planning problem optimally using analytical methods is proven to be PSPACE-Hard.…
Developing table tennis robots that mirror human speed, accuracy, and ability to predict and respond to the full range of ball spins remains a significant challenge for legged robots. To demonstrate these capabilities we present a system to…
Jumping constitutes an essential component of quadruped robots' locomotion capabilities, which includes dynamic take-off and adaptive landing. Existing quadrupedal jumping studies mainly focused on the stance and flight phase by assuming a…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation.In this paper, we propose a…
We present a decoupled algorithm for motion planning for a collection of unit-balls moving among polyhedral obstacles in $\mathbb{R}^d$, for any $d \ge 2$. We assume that the robots have revolving areas in the vicinity of their start and…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
This paper presents a motion planning algorithm for quadruped locomotion based on density functions. We decompose the locomotion problem into a high-level density planner and a model predictive controller (MPC). Due to density functions…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Trajectory planning is crucial in multi-robot systems, particularly in environments with numerous obstacles. While extensive research has been conducted in this field, the challenge of coordinating multiple robots to flow collectively from…
Time-jerk optimal trajectory planning is crucial in advancing robotic arms' performance in dynamic tasks. Traditional methods rely on solving complex nonlinear programming problems, bringing significant delays in generating optimized…
In this paper, we present a cascade control structure to address the trajectory tracking problem for quadcopters, ensuring uniform global asymptotic stability of the state tracking error dynamics. An MPC strategy based on a 12-dimensional…