Related papers: A Novel Optimization-Based Collision Avoidance For…
This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none…
Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
To perform autonomous driving maneuvers, such as parallel or perpendicular parking, a vehicle requires continual speed and steering adjustments to follow a generated path. In consequence, the path's quality is a limiting factor of the…
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substantial challenge due to high-dimensional state spaces and…
In this paper, the trajectory planning problem for autonomous rendezvous and docking between a controlled spacecraft and a tumbling target is addressed. The use of a variable planning horizon is proposed in order to construct an appropriate…
In order for automated mobile vehicles to navigate in the real world with minimal collision risks, it is necessary for their planning algorithms to consider uncertainties from measurements and environmental disturbances. In this paper, we…
This paper presents an optimisation-based approach for an obstacle avoidance problem within an autonomous vehicle racing context. Our control regime leverages online reachability analysis and sensor data to compute the maximal safe…
Online planning of collision-free trajectories is a fundamental task for robotics and self-driving car applications. This paper revisits collision avoidance between ellipsoidal objects using differentiable constraints. Two ellipsoids do not…
This paper presents a novel trajectory optimization formulation to solve the robotic assembly of the belt drive unit. Robotic manipulations involving contacts and deformable objects are challenging in both dynamic modeling and trajectory…
We present a fully distributed collision avoidance algorithm based on convex optimization for a team of mobile robots. This method addresses the practical case in which agents sense each other via measurements from noisy on-board sensors…
We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
We propose an online iterative algorithm to optimize a convex cover to under-approximate the free space for autonomous navigation to delineate Safe Flight Corridors (SFC). The convex cover consists of a set of polytopes such that the union…
A control optimization approach is presented for a chaser spacecraft tasked with maintaining proximity to a target space object while avoiding collisions. The target object trajectory is provided numerically to account for both passive…
A central aspect of robotic motion planning is collision avoidance, where a multitude of different approaches are currently in use. Optimization-based motion planning is one method, that often heavily relies on distance computations between…
The multiple spacecraft guidance problem for proximity flight in libration point orbit is considered. A nonlinear optimal control problem with continuous-time path constraints enforcing minimum separation between each spacecraft is…
A method to compute optimal collision avoidance maneuvers for short-term encounters is presented. The maneuvers are modeled as multiple-impulses to handle impulsive cases and to approximate finite burn arcs associated either with short…
Optimization-based methods are widely used for computing fast, diverse solutions for complex tasks such as collision-free movement or planning in the presence of contacts. However, most of these methods require enforcing non-penetration…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…