Related papers: Differentiable Collision-Free Parametric Corridors
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…
We propose two new alternating direction methods to solve "fully" nonsmooth constrained convex problems. Our algorithms have the best known worst-case iteration-complexity guarantee under mild assumptions for both the objective residual and…
We present Jade, a differentiable physics engine for articulated rigid bodies. Jade models contacts as the Linear Complementarity Problem (LCP). Compared to existing differentiable simulations, Jade offers features including…
This paper proposes vehicle motion planning methods with obstacle avoidance in tight spaces by incorporating polygonal approximations of both the vehicle and obstacles into a model predictive control (MPC) framework. Representing these…
In practice, navigation of mobile robots in confined environments is often done using a spatially discrete cost-map to represent obstacles. Path following is a typical use case for model predictive control (MPC), but formulating constraints…
Conformal Prediction (CP) is a principled framework for quantifying uncertainty in blackbox learning models, by constructing prediction sets with finite-sample coverage guarantees. Traditional approaches rely on scalar nonconformity scores,…
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…
This paper proposes a novel mission planning algorithm for autonomous robots that selects an optimal waypoint sequence from a predefined set to maximize total reward while satisfying obstacle avoidance, state, input, derivative, mission…
This letter studies a distributed collision avoidance control problem for a group of rigid bodies on a sphere. A rigid body network, consisting of multiple rigid bodies constrained to a spherical surface and an interconnection topology, is…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
This paper presents a novel trajectory planning pipeline for complex driving scenarios like autonomous lane changing, by integrating risk-aware planning with guaranteed collision avoidance into a unified optimization framework. We first…
For aerial swarms, navigation in a prescribed formation is widely practiced in various scenarios. However, the associated planning strategies typically lack the capability of avoiding obstacles in cluttered environments. To address this…
In this paper, we propose a novel trajectory optimization algorithm for mobile manipulators under end-effector path, collision avoidance and various kinematic constraints. Our key contribution lies in showing how this highly non-linear and…
Differential equation discovery, a machine learning subfield, is used to develop interpretable models, particularly in nature-related applications. By expertly incorporating the general parametric form of the equation of motion and…
The problem of counting collisions or interactions is common in areas as computer graphics and scientific simulations. Since it is a major bottleneck in applications of these areas, a lot of research has been carried out on such subject,…
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with complementarity constraints become useful in this regard.…
We introduce a general formulation for an implicit equation-free method in the setting of slow-fast systems. First, we give a rigorous convergence result for equation-free analysis showing that the implicitly defined coarse-level time…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
A large-scale complex system comprising many, often spatially distributed, dynamical subsystems with partial autonomy and complex interactions are called system of systems. This paper describes an efficient algorithm for model predictive…
We prove that the finite-difference based derivative-free descent (FD-DFD) methods have a capability to find the global minima for a class of multiple minima problems. Our main result shows that, for a class of multiple minima objectives…