Related papers: A hierarchical framework for collision avoidance i…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Redundant robots are desired to execute multitasks with different priorities simultaneously. The task priorities are necessary to be transitioned for complex task scheduling of whole-body control (WBC). Many methods focused on guaranteeing…
Collisions are common in many dynamical systems with real applications. They can be formulated as hybrid dynamical systems with discontinuities automatically triggered when states transverse certain manifolds. We present an algorithm for…
Multi-vehicle coordinated motion planning has always been challenged to safely and efficiently resolve conflicts under non-holonomic dynamic constraints. Constructing spatial-temporal corridors for multi-vehicle can decouple the…
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…
Minimally invasive surgery (MIS) has revolutionized many procedures and led to reduced recovery time and risk of patient injury. However, MIS poses additional complexity and burden on surgical teams. Data-driven surgical vision algorithms…
Advances in robotics have been driving the development of human-robot interaction (HRI) technologies. However, accurately perceiving human actions and achieving adaptive control remains a challenge in facilitating seamless coordination…
In recent years, impressive results have been achieved in robotic manipulation. While many efforts focus on generating collision-free reference signals, few allow safe contact between the robot bodies and the environment. However, in…
The problem of multi-robot coverage control has been widely studied to efficiently coordinate a team of robots to cover a desired area of interest. However, this problem faces significant challenges when some robots are lost or deviate from…
Sudden changes in the dynamics of robotic tasks, such as contact with an object or the latching of a door, are often viewed as inconvenient discontinuities that make manipulation difficult. However, when these transitions are…
In this context, a major focus of this thesis is on unintentional collisions, where a straight goal is to eliminate injury from users and passerby's via realtime sensing and control systems. A less obvious focus is to combine collision…
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…
This work is inspired by the problem of planning sequences of operations, as welding, in car manufacturing stations where multiple industrial robots cooperate. The goal is to minimize the station cycle time, \emph{i.e.} the time it takes…
This paper proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human…
This paper presents a Center of Mass (CoM) based manipulation and regrasp planner that implements stability constraints to preserve the robot balance. The planner provides a graph of IK-feasible, collision-free and stable motion sequences,…
Long-term Human-Robot Collaboration (HRC) is crucial for enabling flexible manufacturing systems and integrating companion robots into daily human environments over extended periods. This paper identifies several key challenges for such…
We present a method for deadlock-free and collision-free navigation in a multi-robot system with nonholonomic robots. The problem is solved by quadratic programming and is applicable to most wheeled mobile robots with linear kinematic…
This paper presents an Impedance Primitive-augmented hierarchical reinforcement learning framework for efficient robotic manipulation in sequential contact tasks. We leverage this hierarchical structure to sequentially execute behavior…