Related papers: Tracailer: An Efficient Trajectory Planner for Tra…

This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…

Robotic tasks involving contact interactions pose significant challenges for trajectory optimization due to discontinuous dynamics. Conventional formulations typically assume deterministic contact events, which limit robustness and…

Practical use of robotic manipulators made from soft materials requires generating and executing complex motions. We present the first approach for generating trajectories of a thermally-actuated soft robotic manipulator. Based on…

In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…

We present a framework for bi-level trajectory optimization in which a system's dynamics are encoded as the solution to a constrained optimization problem and smooth gradients of this lower-level problem are passed to an upper-level…

We present parametric trajectory optimization, a method for simultaneously computing physical parameters, actuation requirements, and robot motions for more efficient robot designs. In this scheme, robot dimensions, masses, and other…

This paper proposes a task-specific trajectory optimization framework for human-robot collaboration, enabling adaptive motion planning based on human interaction dynamics. Unlike conventional approaches that rely on predefined desired…

Soft robots have the potential to interact with sensitive environments and perform complex tasks effectively. However, motion plans and trajectories for soft manipulators are challenging to calculate due to their deformable nature and…

Mobile robots, especially those driving outdoors and in unstructured terrain, sometimes suffer from failures and errors in locomotion, like unevenly pressurized or flat tires, loose axes or de-tracked tracks. Those are errors that go…

Combining an energy-efficient drone with a high-capacity truck for last-mile package delivery can benefit operators and customers by reducing delivery times and environmental impact. However, directly integrating drone flight dynamics into…

This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a decentralized control approach. A fully decentralized model predictive controller is designed in which interactions between subsystems…

Optimization-based trajectory generation methods are widely used in whole-body planning for robots. However, existing work either oversimplifies the robot's geometry and environment representation, resulting in a conservative trajectory, or…

Formation flight has a vast potential for aerial robot swarms in various applications. However, existing methods lack the capability to achieve fully autonomous large-scale formation flight in dense environments. To bridge the gap, we…

We revisit the linear search problem where a robot, initially placed at the origin on an infinite line, tries to locate a stationary target placed at an unknown position on the line. Unlike previous studies, in which the robot travels along…

Non-prehensile manipulation in high-dimensional systems is challenging for a variety of reasons. One of the main reasons is the computationally long planning times that come with a large state space. Trajectory optimisation algorithms have…

Non-prehensile object transportation offers a way to enhance robotic performance in object manipulation tasks, especially with unstable objects. Effective trajectory planning requires simultaneous consideration of robot motion constraints…

We present an algorithm that produces a plan for relocating obstacles in order to grasp a target in clutter by a robotic manipulator without collisions. We consider configurations where objects are densely populated in a constrained and…

Data driven methods for time series forecasting that quantify uncertainty open new important possibilities for robot tasks with hard real time constraints, allowing the robot system to make decisions that trade off between reaction time and…

Aiming to mimic the brachiation locomotion of primates, we establish a brachiation robot model capable of swinging between different bars. The robot's design is based on a four-link underactuated structure. We propose an offline trajectory…

Efficient trajectory optimization is essential for avoiding collisions in unstructured environments, but it remains challenging to have both speed and quality in the solutions. One reason is that second-order optimality requires calculating…