Related papers: Time-Optimal Path Tracking with ISO Safety Guarant…
Modern sampling-based motion planning algorithms typically take between hundreds of milliseconds to dozens of seconds to find collision-free motions for high degree-of-freedom problems. This paper presents performance improvements of more…
We present a tool-supported approach for the synthesis, verification and validation of the control software responsible for the safety of the human-robot interaction in manufacturing processes that use collaborative robots. In human-robot…
Multi-robot systems have begun to permeate into a variety of different fields, but collision-free navigation in a decentralized manner is still an arduous task. Typically, the navigation of high speed multi-robot systems demands replanning…
In this paper, we present SROM, a novel real-time Simultaneous Localization and Mapping (SLAM) system for autonomous vehicles. The keynote of the paper showcases SROM's ability to maintain localization at low sampling rates or at high…
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. In the proposed centralized multi-robot planner, a simultaneous matching and routing problem (SMRP) is…
We synthesize shared control protocols subject to probabilistic temporal logic specifications. More specifically, we develop a framework in which a human and an autonomy protocol can issue commands to carry out a certain task. We blend…
Terminal sliding mode (TSM) control algorithm and its non-singular refinement have been elaborated for two decades and belong, since then, to a broader class of the finite-time controllers, which are known to be robust against the matched…
Motion planning for multi-jointed robots is challenging. Due to the inherent complexity of the problem, most existing works decompose motion planning as easier subproblems. However, because of the inconsistent performance metrics, only…
We present an analytical method to estimate the continuous-time collision probability of motion plans for autonomous agents with linear controlled Ito dynamics. Motion plans generated by planning algorithms cannot be perfectly executed by…
The growing integration of mobile robots in shared workspaces requires efficient path planning and coordination between the agents, accounting for safety and productivity. In this work, we propose a digital model-based optimization…
This work presents a framework for multi-robot tour guidance in a partially known environment with uncertainty, such as a museum. A simultaneous matching and routing problem (SMRP) is formulated to match the humans with robot guides…
The contact sequence of humanoid walking consists of single and double support phases (SSP and DSP), and their coordination through proper duration and dynamic transition based on the robot's state is crucial for maintaining walking…
Consider a robot operating in an uncertain environment with stochastic, dynamic obstacles. Despite the clear benefits for trajectory optimization, it is often hard to keep track of each obstacle at every time step due to sensing and…
Recent progress in contact-rich robotic manipulation has been striking, yet most deployed systems remain confined to simple, scripted routines. One of the key barriers is the lack of motion planning algorithms that can provide verifiable…
Time-Optimal Path Parameterization (TOPP) is a well-studied problem in robotics and has a wide range of applications. There are two main families of methods to address TOPP: Numerical Integration (NI) and Convex Optimization (CO). NI-based…
Robotic manipulation demands precise control over both contact forces and motion trajectories. While force control is essential for achieving compliant interaction and high-frequency adaptation, it is limited to operations in close…
In the real-time decision-making and local planning process of autonomous vehicles in dynamic environments, the autonomous driving system may fail to find a reasonable policy or even gets trapped in some situation due to the complexity of…
There are spatio-temporal rules that dictate how robots should operate in complex environments, e.g., road rules govern how (self-driving) vehicles should behave on the road. However, seamlessly incorporating such rules into a robot control…