Related papers: A Differentiable Signed Distance Representation fo…
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…
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…
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…
This paper presents an algorithm for local motion planning in environments populated by moving elliptical obstacles whose velocity, shape and size are fully known but may change with time. We base the algorithm on a collision avoidance…
This paper details an approach to linearise differentiable but non-convex collision avoidance constraints tailored to convex shapes. It revisits introducing differential collision avoidance constraints for convex objects into an optimal…
A method to compute optimal collision avoidance maneuvers for short-term encounters is presented. The maneuvers are modeled as multiple-impulses to handle impulsive cases and to approximate finite burn arcs associated either with short…
This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…
Picking manipulators are task specific robots, with fewer degrees of freedom compared to general-purpose manipulators, and are heavily used in industry. The efficiency of the picking robots is highly dependent on the path planning solution,…
Collision detection plays an important role in simulation, control, and learning for robotic systems. However, no existing method is differentiable with respect to the configurations of the objects, greatly limiting the sort of algorithms…
Differentiable physics is a powerful tool in computer vision and robotics for scene understanding and reasoning about interactions. Existing approaches have frequently been limited to objects with simple shape or shapes that are known in…
Achieving collision avoidance between moving objects is an important objective while determining robot trajectories. In performing collision avoidance maneuvers, the relative shapes of the objects play an important role. The literature…
Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is still difficult. Existing approaches are often plagued by…
This paper presents a novel approach for the differentiable rendering of convex polyhedra, addressing the limitations of recent methods that rely on implicit field supervision. Our technique introduces a strategy that combines…
Design requirements for moving parts in mechanical assemblies are typically specified in terms of interactions with other parts. Some are purely kinematic (e.g., pairwise collision avoidance) while others depend on physics and material…
Continuous formulations of trajectory planning problems have two main benefits. First, constraints are guaranteed to be satisfied at all times. Secondly, dynamic obstacles can be naturally considered with time. This paper introduces a novel…
This paper introduces a differentiable representation for the optimization of boustrophedon path plans in convex polygons, explores an additional parameter of these path plans that can be optimized, discusses the properties of this…
Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…
In this work, we present a new efficient method for convex shape representation, which is regardless of the dimension of the concerned objects, using level-set approaches. Convexity prior is very useful for object completion in computer…
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…
We introduce a modeling framework for manipulation planning based on the formulation of the dynamics as a projected dynamical system. This method uses implicit signed distance functions and their gradients to formulate an equivalent…