Related papers: AVOCADO: Adaptive Optimal Collision Avoidance driv…
Autonomous drone technology holds significant promise for enhancing search and rescue operations during evacuations by guiding humans toward safety and supporting broader emergency response efforts. However, their application in dynamic,…
This paper presents our method for enabling a UAV quadrotor, equipped with a monocular camera, to autonomously avoid collisions with obstacles in unstructured and unknown indoor environments. When compared to obstacle avoidance in ground…
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…
Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…
Multi-robot systems have become very popular in recent years because of their wide spectrum of applications, ranging from surveillance to cooperative payload transportation. Model Predictive Control (MPC) is a promising controller for…
Good pre-trained visual representations could enable robots to learn visuomotor policy efficiently. Still, existing representations take a one-size-fits-all-tasks approach that comes with two important drawbacks: (1) Being completely…
Coordination among connected and autonomous vehicles (CAVs) is advancing due to developments in control and communication technologies. However, much of the current work is based on oversimplified and unrealistic task-specific assumptions,…
In autonomous navigation of mobile robots, sensors suffer from massive occlusion in cluttered environments, leaving significant amount of space unknown during planning. In practice, treating the unknown space in optimistic or pessimistic…
We propose a novel formulation of the collision-aware task assignment (CATA) problem and a decentralized auction-based algorithm to solve the problem with optimality bound. Using a collision cone, we predict potential collisions and…
Accurate and reliable object detection is critical for ensuring the safety and efficiency of Connected Autonomous Vehicles (CAVs). Traditional on-board perception systems have limited accuracy due to occlusions and blind spots, while…
This paper investigates the impact of cooperative perception on autonomous driving decision making on urban roads. The extended perception range contributed by the cooperative perception can be properly leveraged to address the implicit…
Online planning for partially observable Markov decision processes (POMDPs) provides efficient techniques for robot decision-making under uncertainty. However, existing methods fall short of preventing safety violations in dynamic…
This paper presents a novel interaction planning method that exploits impedance tuning techniques in response to environmental uncertainties and unpredictable conditions using haptic information only. The proposed algorithm plans the…
This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…
Achieving reactive robot behavior in complex dynamic environments is still challenging as it relies on being able to solve trajectory optimization problems quickly enough, such that we can replan the future motion at frequencies which are…
When mobile robots maneuver near people, they run the risk of rudely blocking their paths; but not all people behave the same around robots. People that have not noticed the robot are the most difficult to predict. This paper investigates…
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
Mobile robots, such as ground vehicles and quadrotors, are becoming increasingly important in various fields, from logistics to agriculture, where they automate processes in environments that are difficult to access for humans. However, to…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Collision avoidance algorithms for Autonomous Surface Vehicles (ASV) that follow the Convention on the International Regulations for Preventing Collisions at Sea (COLREGs) have been proposed in recent years. However, it may be difficult and…