Related papers: Obstacle- and Occlusion-Responsive Visual Tracking…
This paper presents a visual-inertial-based control strategy to address the task space control problem of robot manipulators. To this end, an observer-based hybrid controller is employed to control end-effector motion. In addition, a hybrid…
Capturing the interactions between humans and their environment in 3D is important for many applications in robotics, graphics, and vision. Recent works to reconstruct the 3D human and object from a single RGB image do not have consistent…
This paper proposes a Model Predictive Control (MPC) algorithm for target tracking amongst static and dynamic obstacles. Our main contribution lies in improving the computational tractability and reliability of the underlying non-convex…
Deep neural networks can be trained to be efficient and effective controllers for dynamical systems; however, the mechanics of deep neural networks are complex and difficult to guarantee. This work presents a general approach for providing…
Autonomous systems, such as self-driving cars and drones, have made significant strides in recent years by leveraging visual inputs and machine learning for decision-making and control. Despite their impressive performance, these…
Digital control has become increasingly prevalent in modern systems, making continuous-time plants controlled by discrete-time (digital) controllers ubiquitous and crucial across industries, including aerospace, automotive, and…
This paper develops a control strategy for pursuit-evasion problems in environments with occlusions. We address the challenge of a mobile pursuer keeping a mobile evader within its field of view (FoV) despite line-of-sight obstructions. The…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
The design of tracking controllers that closely follow a reference trajectory while ensuring safety and robustness against disturbances is a challenging problem in the control of autonomous systems. In this work, we propose a neural…
Verifying the correct behavior of robots in contact tasks is challenging due to model uncertainties associated with contacts. Standard methods for testing often fall short since all (uncountable many) solutions cannot be obtained. Instead,…
Contact-rich manipulation involves kinematic constraints on the task motion, typically with discrete transitions between these constraints during the task. Allowing the robot to detect and reason about these contact constraints can support…
Handling object interaction is a fundamental challenge in practical multi-object tracking, even for simple interactive effects such as one object temporarily occluding another. We formalize the problem of occlusion in tracking with two…
Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…
As a crucial robotic perception capability, visual tracking has been intensively studied recently. In the real-world scenarios, the onboard processing time of the image streams inevitably leads to a discrepancy between the tracking results…
Mobile manipulators typically encounter significant challenges in navigating narrow, cluttered environments due to their high-dimensional state spaces and complex kinematics. While reactive methods excel in dynamic settings, they struggle…
Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single…
As robots move from the laboratory into the real world, motion planning will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as…
Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…