Related papers: Safety-critical Motion Planning for Collaborative …
In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orientation of the payload. For this task, we used custom built…
In this paper, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile…
This paper presents a safety-critical locomotion control framework for quadrupedal robots. Our goal is to enable quadrupedal robots to safely navigate in cluttered environments. To tackle this, we introduce exponential Discrete Control…
Developing safe automated vehicles that can be proactive, safe, and comfortable in mixed traffic requires improved planning methods that are risk-averse and that account for predictions of the motion of other road users. To consider these…
In this paper, we propose a leader-follower hierarchical strategy for two robots collaboratively transporting an object in a partially known environment with obstacles. Both robots sense the local surrounding environment and react to…
This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functions (CBFs) to enable cooperative locomotion of multi-agent…
Contact-based decision and planning methods are becoming increasingly important to endow higher levels of autonomy for legged robots. Formal synthesis methods derived from symbolic systems have great potential for reasoning about high-level…
Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…
Cooperative transportation via multiple aerial robots has the potential to support various payloads and reduce the chances of them being dropped. Furthermore, autonomously controlled robots render the system scalable with respect to the…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
In obstacle-dense scenarios, providing safe guidance for mobile robots is critical to improve the safe maneuvering capability. However, the guidance provided by standard guiding vector fields (GVFs) may limit the motion capability due to…
Loco-Manipulation for humanoid robots aims to enable robots to integrate mobility with upper-body tracking capabilities. Most existing approaches adopt hierarchical architectures that decompose control into isolated upper-body…
Navigating mobile robots through environments shared with humans is challenging. From the perspective of the robot, humans are dynamic obstacles that must be avoided. These obstacles make the collision-free space nonconvex, which leads to…
Legged robots are physically capable of navigating a diverse variety of environments and overcoming a wide range of obstructions. For example, in a search and rescue mission, a legged robot could climb over debris, crawl through gaps, and…
This paper proposes a novel control framework for agile and robust bipedal locomotion, addressing model discrepancies between full-body and reduced-order models. Specifically, assumptions such as constant centroidal inertia have introduced…
This study proposes an integrated task and motion planning method for dynamic locomotion in partially observable environments with multi-level safety guarantees. This layered planning framework is composed of a high-level symbolic task…
In practical applications, the unpredictable movement of obstacles and the imprecise state observation of robots introduce significant uncertainties for the swarm of robots, especially in cluster environments. However, existing methods are…
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theoretical calculations and practical applications the…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
There has been a growing utilization of industrial robots as complementary collaborators for human workers in re-manufacturing sites. Such a human-robot collaboration (HRC) aims to assist human workers in improving the flexibility and…