Related papers: Hybrid Feedback Control Design for Non-Convex Obst…
The problem of optimal feedback planning among obstacles in d-dimensional configuration spaces is considered. We present a sampling-based, asymptotically optimal feedback planning method. Our method combines an incremental construction of…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…
This paper presents a two-stage framework for constrained near-optimal feedback control of input-affine nonlinear systems. An approximate value function for the unconstrained control problem is computed offline by solving the…
We propose NH-TTC, a general method for fast, anticipatory collision avoidance for autonomous robots having arbitrary equations of motions. Our proposed approach exploits implicit differentiation and subgradient descent to locally optimize…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
This paper presents reactive obstacle and self-collision avoidance of redundant robotic manipulators within real time kinematic feedback control using GPU-computed distance transform. The proposed framework utilizes discretized…
This paper presents two novel control methodologies for the cooperative manipulation of an object by N robotic agents. Firstly, we design an adaptive control protocol which employs quaternion feedback for the object orientation to avoid…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
This paper presents a unified control framework for robust trajectory tracking and moving obstacle avoidance applicable to a broad class of mobile robots. By formulating a generalized kinematic transformation, we convert diverse vehicle…
The primary objective of a safe navigation algorithm is to guide the object from its current position to the target position while avoiding any collision with the en-route obstacles, and the appropriate obstacle avoidance strategies are the…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Impact-aware tasks (i.e. on purpose impacts) are not handled in multi-objective whole body controllers of hu-manoid robots. This leads to the fact that a humanoid robot typically operates at near-zero velocity to interact with the external…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
We study a human-robot collaborative transportation task in presence of obstacles. The task for each agent is to carry a rigid object to a common target position, while safely avoiding obstacles and satisfying the compliance and actuation…
Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…
Teleoperation has emerged as an alternative solution to fully-autonomous systems for achieving human-level capabilities on humanoids. Specifically, teleoperation with whole-body control is a promising hands-free strategy to command…
The transition from free motion to contact is a challenging problem in robotics, in part due to its hybrid nature. Additionally, disregarding the effects of impacts at the motion planning level often results in intractable impulsive contact…
Socially aware robot navigation is a planning paradigm where the robot navigates in human environments and tries to adhere to social constraints while interacting with the humans in the scene. These navigation strategies were further…
Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…
Haptic interaction is essential for the dynamic dexterity of animals, which seamlessly switch from an impedance to an admittance behaviour using the force feedback from their proprioception. However, this ability is extremely challenging to…