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While autonomous multi-robots can achieve safe and coordinated navigation, they often struggle to adapt to unforeseen conditions and to capture operator-driven objectives in unstructured environments. We present a Virtual Reality (VR)-based…
Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for autonomous litter collection. The key challenge lies in the…
This paper proposes a safety-critical controller for dynamic and uncertain environments, leveraging a robust environment control barrier function (ECBF) to enhance the robustness against the measurement and prediction uncertainties…
We study object importance-based vision risk object identification (Vision-ROI), a key capability for hazard detection in intelligent driving systems. Existing approaches make deterministic decisions and ignore uncertainty, which could lead…
Wheeled-legged robots combine the efficiency of wheels with the obstacle negotiation of legs, yet many state-of-the-art systems rely on costly actuators and sensors, and fall-recovery is seldom integrated, especially for wheeled-legged…
Reinforcement Learning (RL) has proven largely effective in obtaining stable locomotion gaits for legged robots. However, designing control algorithms which can robustly navigate unseen environments with obstacles remains an ongoing problem…
This paper presents a safe learning framework that employs an adaptive model learning algorithm together with barrier certificates for systems with possibly nonstationary agent dynamics. To extract the dynamic structure of the model, we use…
Reinforcement learning necessitates meticulous reward shaping by specialists to elicit target behaviors, while imitation learning relies on costly task-specific data. In contrast, unsupervised skill discovery can potentially reduce these…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
As autonomous robots increasingly become part of daily life, they will often encounter dynamic environments while only having limited information about their surroundings. Unfortunately, due to the possible presence of malicious dynamic…
Recently, safe reinforcement learning (RL) with the actor-critic structure for continuous control tasks has received increasing attention. It is still challenging to learn a near-optimal control policy with safety and convergence…
In this paper, we consider non-convex optimization problems under \textit{unknown} yet safety-critical constraints. Such problems naturally arise in a variety of domains including robotics, manufacturing, and medical procedures, where it is…
This paper presents a role-adaptive Leader-Follower-based formation planning and control framework for teams of quadruped robots operating in cluttered environments. Unlike conventional methods with fixed leaders or rigid formation roles,…
Trajectory generation in dynamic environments presents a significant challenge for quadrotors, particularly due to the non-convexity in the spatial-temporal domain. Many existing methods either assume simplified static environments or…
This paper considers the perception safety problem in distributed vision-based leader-follower formations, where each robot uses onboard perception to estimate relative states, track desired setpoints, and keep the leader within its camera…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
The widespread deployment of autonomous systems in safety-critical environments such as urban air mobility hinges on ensuring reliable, performant, and safe operation under varying environmental conditions. One such approach, value…
Safe control in unknown environments is a significant challenge in robotics. While Control Barrier Functions (CBFs) are widely used to guarantee system safety, they often assume known environments with predefined obstacles. The proposed…