Related papers: Enhanced Probabilistic Collision Detection for Mot…
Sampling-based motion planning techniques have emerged as an efficient algorithmic paradigm for solving complex motion planning problems. These approaches use a set of probing samples to construct an implicit graph representation of the…
Estimating the state of a deformable object is crucial for robotic manipulation, yet accurate tracking is challenging when the object is partially-occluded. To address this problem, we propose an occlusion-robust RGBD sequence tracking…
This paper formally develops a novel hierarchical planning and control framework for robust payload transportation by quadrupedal robots, integrating a model predictive control (MPC) algorithm with a gradient-descent-based adaptive updating…
Conformal Prediction (CP) is a distribution-free method for constructing prediction sets with marginal finite-sample coverage guarantees, making it a suitable framework for reliable uncertainty quantification in safety-critical object…
This paper proposes a novel safety specification tool, called the distributionally robust risk map (DR-risk map), for a mobile robot operating in a learning-enabled environment. Given the robot's position, the map aims to reliably assess…
Navigating safely in dynamic and uncertain environments is challenging due to uncertainties in perception and motion. This letter presents the Chance-Constrained Unscented Model Predictive Path Integral (C2U-MPPI) framework, a robust…
The complexity of nearest-neighbor search dominates the asymptotic running time of many sampling-based motion-planning algorithms. However, collision detection is often considered to be the computational bottleneck in practice. Examining…
The risk of collision between resident space objects has significantly increased in recent years. As a result, spacecraft collision avoidance procedures have become an essential part of satellite operations. To ensure safe and effective…
Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is still difficult. Existing approaches are often plagued by…
In the field of Maritime Autonomous Surface Ships (MASS), the accurate modeling of ship maneuvering motion for harbor maneuvers is a crucial technology. Non-parametric system identification (SI) methods, which do not require prior knowledge…
Detection and tracking of vehicles captured by traffic surveillance cameras is a key component of intelligent transportation systems. We present an improved version of our algorithm for detection of 3D bounding boxes of vehicles, their…
Image-based environment perception is an important component especially for driver assistance systems or autonomous driving. In this scope, modern neuronal networks are used to identify multiple objects as well as the according position and…
Motion planning seeks a collision-free path in a configuration space (C-space), representing all possible robot configurations in the environment. As it is challenging to construct a C-space explicitly for a high-dimensional robot, we…
Addressing irregular cutting and packing (C&P) optimization problems poses two distinct challenges: the geometric challenge of determining whether or not an item can be placed feasibly at a certain position, and the optimization challenge…
In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…
The capability to detect objects is a core part of autonomous driving. Due to sensor noise and incomplete data, perfectly detecting and localizing every object is infeasible. Therefore, it is important for a detector to provide the amount…
Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world…
A simple and reliable algorithm for collision avoidance maneuvers (CAMs), capable of computing impulsive, multi-impulsive, and low-thrust maneuvers, is proposed. The probability of collision (PoC) is approximated by a polynomial of…
Penetration depth (PD) is essential for robotics due to its extensive applications in dynamic simulation, motion planning, haptic rendering, etc. The Expanding Polytope Algorithm (EPA) is the de facto standard for this problem, which…
We present new algorithms to perform fast probabilistic collision queries between convex as well as non-convex objects. Our approach is applicable to general shapes, where one or more objects are represented using Gaussian probability…