Related papers: Fast yet predictable braking manoeuvers for real-t…
Safe and compliant control of dynamic systems in interaction with the environment, e.g., in shared workspaces, continues to represent a major challenge. Mismatches in the dynamic model of the robots, numerical singularities, and the…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
In this paper, we propose a reinforcement learning-based algorithm for trajectory optimization for constrained dynamical systems. This problem is motivated by the fact that for most robotic systems, the dynamics may not always be known.…
In this paper we propose a hierarchical controller for autonomous racing where the same vehicle model is used in a two level optimization framework for motion planning. The high-level controller computes a trajectory that minimizes the lap…
This work presents proximally optimal predictive control algorithm, which is essentially a model-based lateral controller for steered autonomous vehicles that selects an optimal steering command within the neighborhood of previous steering…
In many mechatronic applications, controller input costs are negligible and time optimality is of great importance to maximize the productivity by executing fast positioning maneuvers. As a result, the obtained control input has mostly a…
A robotic platform for mobile manipulation needs to satisfy two contradicting requirements for many real-world applications: A compact base is required to navigate through cluttered indoor environments, while the support needs to be large…
Serially connected robots are promising candidates for performing tasks in confined spaces such as search-and-rescue in large-scale disasters. Such robots are typically limbless, and we hypothesize that the addition of limbs could improve…
We propose a method to generate actuation plans for a reduced order, dynamic model of bipedal running. This method explicitly enforces robustness to ground uncertainty. The plan generated is not a fixed body trajectory that is aggressively…
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handovers of unknown objects by using learning-based grasp…
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…
In this paper, we present an online adaptive robust control framework for underactuated brachiating robots traversing flexible cables. Since the dynamic model of a flexible body is unknown in practice, we propose an indirect adaptive…
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.…
In Human-Robot Collaboration, safety mechanisms such as Speed and Separation Monitoring and Power and Force Limitation dynamically adjust the robot's speed based on human proximity. While essential for risk reduction, these mechanisms…
In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship…
This paper proposes an analytical framework for modelling resource contention in multi-robot systems, where the travel times and task durations are uncertain. It uses several approximation methods to quickly and accurately calculate the…
Efficient trajectory planning for urban intersections is currently one of the most challenging tasks for an Autonomous Vehicle (AV). Courteous behavior towards other traffic participants, the AV's comfort and its progression in the…
In this series of papers, we present a motion planning framework for planning comfortable and customizable motion of nonholonomic mobile robots such as intelligent wheelchairs and autonomous cars. In Part I, we presented the mathematical…
We present a model predictive control (MPC) framework for efficient navigation of mobile robots in cluttered environments. The proposed approach integrates a finite-segment shortest path planner into the finite-horizon trajectory…
In many robotic manipulation scenarios, robots often have to perform highly-repetitive tasks in structured environments e.g. sorting mail in a mailroom or pick and place objects on a conveyor belt. In this work we are interested in settings…