Related papers: ADMM-MCBF-LCA: A Layered Control Architecture for …
Reinforcement learning (RL) algorithms can achieve state-of-the-art performance in decision-making and continuous control tasks. However, applying RL algorithms on safety-critical systems still needs to be well justified due to the…
The objective of the first CARLA autonomous driving challenge was to deploy autonomous driving systems to lead with complex traffic scenarios where all participants faced the same challenging traffic situations. According to the organizers,…
This paper presents an approach for navigation and control in unmapped environments under input and state constraints using a composite control barrier function (CBF). We consider the scenario where real-time perception feedback (e.g.,…
Existing aerial robot navigation systems typically plan paths around static and dynamic obstacles, but fail to adapt when a static obstacle suddenly moves. Integrating environmental semantic awareness enables estimation of potential risks…
Multi-robot systems are increasingly being used for critical applications such as rescuing injured people, delivering food and medicines, and monitoring key areas. These applications usually involve navigating at high speeds through…
Preventing collisions in multi-robot navigation is crucial for deployment. This requirement hinders the use of learning-based approaches, such as multi-agent reinforcement learning (MARL), on their own due to their lack of safety…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
Mobile robots are often tasked with repeatedly navigating through an environment whose traversability changes over time. These changes may exhibit some hidden structure, which can be learned. Many studies consider reactive algorithms for…
This paper proposes a LiDAR-based goal-seeking and exploration framework, addressing the efficiency of online obstacle avoidance in unstructured environments populated with static and moving obstacles. This framework addresses two…
This paper presents a novel, safe control architecture (SCA) for controlling an important class of systems: safety-critical systems. Ensuring the safety of control decisions has always been a challenge in automatic control. The proposed SCA…
We present a novel modularized end-to-end framework for legged reactive navigation in complex dynamic environments using a single light detection and ranging (LiDAR) sensor. The system comprises four simulation-trained modules: three…
Hybrid dynamical systems are ubiquitous as practical robotic applications often involve both continuous states and discrete switchings. Safety is a primary concern for hybrid robotic systems. Existing safety-critical control approaches for…
To achieve successful field autonomy, mobile robots need to freely adapt to changes in their environment. Visual navigation systems such as Visual Teach and Repeat (VT&R) often assume the space around the reference trajectory is free, but…
A runtime assurance system (RTA) for a given plant enables the exercise of an untrusted or experimental controller while assuring safety with a backup (or safety) controller. The relevant computational design problem is to create a logic…
The rapid advancements in autonomous vehicle (AV) technology promise enhanced safety and operational efficiency. However, frequent lane changes and merging maneuvers continue to pose significant safety risks and disrupt traffic flow. This…
We study the navigation problem for a robot moving amidst static and dynamic obstacles and rely on a hierarchical approach to solve it. First, the reference trajectory is planned by the safe interval path planning algorithm that is capable…
This paper describes a hierarchical solution consisting of a multi-phase planner and a low-level safe controller to jointly solve the safe navigation problem in crowded, dynamic, and uncertain environments. The planner employs dynamic gap…
Unmanned underwater vehicles (UUVs) operate persistently in communication-constrained environments, thus requiring high-level autonomous fault-tolerant control under faulty operating conditions. Existing approaches rely heavily on…
This paper addresses a safe planning and control problem for mobile robots operating in communication- and sensor-limited dynamic environments. In this case the robots cannot sense the objects around them and must instead rely on…
For safe navigation in dynamic uncertain environments, robotic systems rely on the perception and prediction of other agents. Particularly, in occluded areas where cameras and LiDAR give no data, the robot must be able to reason about…