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Mapping traversal costs in an environment and planning paths based on this map are important for autonomous navigation. We present a neurobotic navigation system that utilizes a Spiking Neural Network Wavefront Planner and E-prop learning…
The integration of unmanned aerial vehicles (UAVs) into wireless communication systems has emerged as a transformative approach, promising cost-efficient connectivity. This paper addresses the optimization of the dynamic time-splitting…
In this paper, we develop a computationally-efficient approach to minimum-time trajectory optimization using input-output data-based models, to produce an end-to-end data-to-control solution to time-optimal planning/control of dynamic…
Despite extensive developments in motion planning of autonomous aerial vehicles (AAVs), existing frameworks faces the challenges of local minima and deadlock in complex dynamic environments, leading to increased collision risks. To address…
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…
Dynamic and continuous jumping remains an open yet challenging problem in bipedal robot control. Real-time planning with full body dynamics over the entire jumping trajectory presents unsolved challenges in computation burden. In this…
In this paper, we look into the minimum obstacle displacement (MOD) planning problem from a mobile robot motion planning perspective. This problem finds an optimal path to goal by displacing movable obstacles when no path exists due to…
We address the solution of time-varying optimization problems characterized by the sum of a time-varying strongly convex function and a time-invariant nonsmooth convex function. We design an online algorithmic framework based on…
In this paper we propose a technique that assigns obstacles to clusters used for collision avoidance via Mixed-Integer Programming. This strategy enables a reduction in the number of binary variables used for collision avoidance, thus…
Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…
To achieve optimal robot behavior in dynamic scenarios we need to consider complex dynamics in a predictive manner. In the vehicle dynamics community, it is well know that to achieve time-optimal driving on low surface, the vehicle should…
Self-adaptive systems frequently use tactics to perform adaptations. Tactic examples include the implementation of additional security measures when an intrusion is detected, or activating a cooling mechanism when temperature thresholds are…
Autonomous underwater vehicles (AUVs) are increasingly used in marine research, military applications, and undersea exploration. However, their operational range is significantly affected by battery performance. In this paper, a framework…
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular method to compute a trajectory in real-time. However, these…
The paper proposes a novel Economic Model Predictive Control (EMPC) scheme for Autonomous Surface Vehicles (ASVs) to simultaneously address path following accuracy and energy constraints under environmental disturbances. By formulating…
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an…
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…
This paper describes the design, implementation and testing of a suite of algorithms to enable depth constrained autonomous bathymetric (underwater topography) mapping by an Autonomous Surface Vessel (ASV). Given a target depth and a…
This paper introduces an optimization problem (P) and a solution strategy to design variable-speed-limit controls for a highway that is subject to traffic congestion and uncertain vehicle arrival and departure. By employing a finite…