Related papers: Constructive barrier feedback for collision avoida…
In this paper, a distributed formation flight control topology for Leader-Follower formation structure is presented. Such topology depends in the first place on online generation of the trajectories that should be followed by the agents in…
Cooperatively avoiding collision is a critical functionality for robots navigating in dense human crowds, failure of which could lead to either overaggressive or overcautious behavior. A necessary condition for cooperative collision…
This paper presents adaptive event-triggered formation control strategies for autonomous vehicles (AVs) subject to longitudinal and lateral motion uncertainties. The proposed framework explores various vehicular formations to enable safe…
This paper presents a novel approach employing prescribed performance control to address the distributed fault-tolerant formation control problem in a heterogeneous UAV-UGV cooperative system under a directed interaction topology and…
Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpredictable environments of robotic systems. However, typically…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
A reactive obstacle avoidance method for mobile manipulators is presented. The objectives of the developed algorithm are twofold. The first one is to find a trajectory in the configuration space of a mobile manipulator so as to follow a…
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety. We build this framework through the use of control barrier…
Safe and smooth robot motion around obstacles is an essential skill for autonomous robots, especially when operating around people and other robots. Conventionally, due to real-time operation requirements and onboard computation…
For a vehicle moving in an $n$-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded…
Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…
This paper develops a dynamical framework for adaptive coordination in systems of interacting agents referred to here as Feedback-Coupled Memory Systems (FCMS). Instead of framing coordination as equilibrium optimization or agent-centric…
In this paper, we propose a model predictive control (MPC) that accomplishes interactive robotic tasks, in which multiple contacts may occur at unknown locations. To address such scenarios, we made an explicit contact feedback loop in the…
This paper presents a new control barrier function (CBF) designed to improve the efficiency of collision avoidance for nonholonomic vehicles. Traditional CBFs typically rely on the shortest Euclidean distance to obstacles, overlooking the…
In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…
The interest in using reinforcement learning (RL) controllers in safety-critical applications such as robot navigation around pedestrians motivates the development of additional safety mechanisms. Running RL-enabled systems among uncertain…
In this report, we try to improve the performance of existing approaches for search operations in multi-robot context. We propose three novel algorithms that are using a triangular grid pattern, i.e., robots certainly go through the…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
This paper presents a consensus-based formation control strategy for autonomous agents moving in the plane with continuous-time single integrator dynamics. In order to save wireless resources (bandwidth, energy, etc), the designed…