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One way of ensuring operator's safety during human-robot collaboration is through Speed and Separation Monitoring (SSM), as defined in ISO standard ISO/TS 15066. In general, it is impossible to avoid all human-robot collisions: consider for…
We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in human-robot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion…
Industrial robotic applications such as spraying, welding, and additive manufacturing frequently require fast, accurate, and uniform motion along a 3D spatial curve. To increase process throughput, some manufacturers propose a dual-robot…
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…
Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy strict safety requirements to avoid self-damage or harming nearby…
Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…
Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory, or…
It is well-known that a deep understanding of co-workers' behavior and preference is important for collaboration effectiveness. In this work, we present a method to accomplish smooth human-robot collaboration in close proximity by taking…
This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…
We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…
This paper proposes a framework for generating fast, smooth and predictable braking manoeuvers for a controlled robot. The proposed framework integrates two approaches to obtain feasible modal limits for designing braking trajectories. The…
The current capabilities of robotic systems make human collaboration necessary to accomplish complex tasks effectively. In this work, we are introducing a framework to ensure safety in a human-robot collaborative environment. The system is…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…
Designing safety-critical control for robotic manipulators is challenging, especially in a cluttered environment. First, the actual trajectory of a manipulator might deviate from the planned one due to the complex collision environments and…
In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to…
We propose an algorithm to (i) learn online a deep signed distance function (SDF) with a LiDAR-equipped robot to represent the 3D environment geometry, and (ii) plan collision-free trajectories given this deep learned map. Our algorithm…
Safe robot motion generation is critical for practical applications from manufacturing to homes. In this work, we proposed a stochastic optimization-based motion generation method to generate collision-free and time-optimal motion for the…
In many robotic tasks, such as autonomous drone racing, the goal is to travel through a set of waypoints as fast as possible. A key challenge for this task is planning the time-optimal trajectory, which is typically solved by assuming…
Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…