Related papers: N-dimensional Convex Obstacle Avoidance using Hybr…
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Robots need to manipulate objects in constrained environments like shelves and cabinets when assisting humans in everyday settings like homes and offices. These constraints make manipulation difficult by reducing grasp accessibility, so…
Path planning in the presence of dynamic obstacles is a challenging problem due to the added time dimension in search space. In approaches that ignore the time dimension and treat dynamic obstacles as static, frequent re-planning is…
Humanoid robots are expected to navigate in changing environments and perform a variety of tasks. Frequently, these tasks require the robot to make decisions online regarding the speed and precision of following a reference path. For…
In our previous work, we design a trapezoid virtual tube to guide robotic swarms through narrow openings. This paper extends the application of the trapezoid virtual tube to the situations where there are static obstacles inside and robots…
This paper presents a neural-network based adaptive feedback control structure to regulate the velocity of 3D bipedal robots under dynamics uncertainties. Existing Hybrid Zero Dynamics (HZD)-based controllers regulate velocity through the…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
In this paper, we consider the problem of designing collision-free, dynamically feasible, and socially-aware trajectories for robots operating in environments populated by humans. We define trajectories to be social-aware if they do not…
In the last years, a growing number of challenging applications in navigation, logistics, and tourism were modeled as orienteering problems. This problem has been proposed in relation to a sport race where certain control points must be…
An outstanding challenge for the widespread deployment of robotic systems like autonomous vehicles is ensuring safe interaction with humans without sacrificing performance. Existing safety methods often neglect the robot's ability to learn…
In the last decade, a great effort has been employed in the study of Hybrid Unmanned Aerial Underwater Vehicles, robots that can easily fly and dive into the water with different levels of mechanical adaptation. However, most of this…
This paper proposes a novel learning-based control policy with strong generalizability to new environments that enables a mobile robot to navigate autonomously through spaces filled with both static obstacles and dense crowds of…
Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that…
Many real-world control problems involve both discrete decision variables - such as the choice of control modes, gear switching or digital outputs - as well as continuous decision variables - such as velocity setpoints, control gains or…
Many robots are not equipped with a manipulator and many objects are not suitable for prehensile manipulation (such as large boxes and cylinders). In these cases, pushing is a simple yet effective non-prehensile skill for robots to interact…
Momentum methods for convex optimization often rely on precise choices of algorithmic parameters, based on knowledge of problem parameters, in order to achieve fast convergence, as well as to prevent oscillations that could severely…
Physical human-robot collaboration requires strict safety guarantees since robots and humans work in a shared workspace. This letter presents a novel control framework to handle safety-critical position-based constraints for human-robot…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
Obstacle avoidance in unmanned aerial vehicles (UAVs), as a fundamental capability, has gained increasing attention with the growing focus on spatial intelligence. However, current obstacle-avoidance methods mainly depend on limited…