Related papers: Avoidance of Concave Obstacles through Rotation of…
Many practical applications of robotics require systems that can operate safely despite uncertainty. In the context of motion planning, two types of uncertainty are particularly important when planning safe robot trajectories. The first is…
Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…
We consider the motion planning problem for stochastic nonlinear systems in uncertain environments. More precisely, in this problem the robot has stochastic nonlinear dynamics and uncertain initial locations, and the environment contains…
Tendon-driven continuum robots (TDCRs), with their flexible backbones, offer the advantage of being used for navigating complex, cluttered environments. However, to do so, they typically require multiple segments, often leading to complex…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…
Aiming at an obstacle avoidance problem with dynamic constraints for Unmanned Surface Vehicle (USV), a method based on Circle Grid Trajectory Cell (CGTC) is proposed. Firstly, the ship model and standardization rules are constructed to…
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the marginal risk of collisions at each point in time by…
Worm-inspired robots provide an effective locomotion strategy for constrained environments by combining cyclic body deformation with alternating anchoring. For compliant robots, however, the interaction between deformable anchoring…
Deformable object manipulation (DOM) represents a critical challenge in robotics, with applications spanning healthcare, manufacturing, food processing, and beyond. Unlike rigid objects, deformable objects exhibit infinite dimensionality,…
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…
This paper investigates different methods to detect obstacles ahead of a robot using a camera in the robot, an aerial camera, and an ultrasound sensor. We also explored various efficient path finding methods for the robot to navigate to the…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
This work addresses the problem of vehicle path planning in the presence of obstacles and uncertainties, which is a fundamental problem in robotics. While many path planning algorithms have been proposed for decades, many of them have dealt…
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…
We employ the proximal averaged Newton-type method for optimal control (PANOC) to solve obstacle avoidance problems in real time. We introduce a novel modeling framework for obstacle avoidance which allows us to easily account for generic,…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…
In autonomous robotics, a significant challenge involves devising robust solutions for Active Collaborative SLAM (AC-SLAM). This process requires multiple robots to cooperatively explore and map an unknown environment by intelligently…
Autonomous terrain traversal of articulated tracked robots can reduce operator cognitive load to enhance task efficiency and facilitate extensive deployment. We present a novel hybrid trajectory optimization method aimed at generating…