Related papers: Informed Circular Fields for Global Reactive Obsta…
This paper presents a reactive planning system that allows a Cassie-series bipedal robot to avoid multiple non-overlapping obstacles via a single, continuously differentiable control barrier function (CBF). The overall system detects an…
Robotic manipulation is challenging due to discontinuous dynamics, as well as high-dimensional state and action spaces. Data-driven approaches that succeed in manipulation tasks require large amounts of data and expert demonstrations,…
Real-time navigation in dense human environments is a challenging problem in robotics. Most existing path planners fail to account for the dynamics of pedestrians because introducing time as an additional dimension in search space is…
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard.…
This paper presents a novel method to generate spatial constraints for motion planning in dynamic environments. Motion planning methods for autonomous driving and mobile robots typically need to rely on the spatial constraints imposed by a…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
We present a novel algorithm for collision-free kinematics of multiple manipulators in a shared workspace with moving obstacles. Our optimization-based approach simultaneously handles collision-free constraints based on reciprocal velocity…
Planning smooth and energy-efficient motions for wheeled mobile robots is a central task for applications ranging from autonomous driving to service and intralogistic robotics. Over the past decades, a wide variety of motion planners, steer…
Robotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for…
In this paper, we present a novel trajectory planning algorithm for cooperative manipulation with multiple quadrotors using control barrier functions (CBFs). Our approach addresses the complex dynamics of a system in which a team of…
This paper considers the integration of gap-based local navigation methods with artificial potential field (APF) methods to derive a local planning module for hierarchical navigation systems that has provable collision-free properties.…
Manipulating a deformable linear object (DLO) such as wire, cable, and rope is a common yet challenging task due to their high degrees of freedom and complex deformation behaviors, especially in an environment with obstacles. Existing local…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware formation control in cluttered and dynamic environments remains a…
Human-robot collaborative applications require scene representations that are kept up-to-date and facilitate safe motions in dynamic scenes. In this letter, we present an interactive distance field mapping and planning (IDMP) framework that…
Parametrized motion planning algorithms have high degrees of universality and flexibility, as they are designed to work under a variety of external conditions, which are viewed as parameters and form part of the input of the underlying…
Artificial potential fields (APFs) and their variants have been a staple for collision avoidance of mobile robots and manipulators for almost 40 years. Its model-independent nature, ease of implementation, and real-time performance have…
This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \emph{ball world}, an artificial representation…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Safe motion planning is essential for autonomous vessel operations, especially in challenging spaces such as narrow inland waterways. However, conventional motion planning approaches are often computationally intensive or overly…