Related papers: A Framework for the Systematic Evaluation of Obsta…
To make safe transitions from autonomous to manual control, a vehicle must have a representation of the awareness of driver state; two metrics which quantify this state are the Observable Readiness Index and Takeover Time. In this work, we…
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…
We study a novel principle for safe and efficient collision avoidance that adopts a mathematically elegant and general framework abstracting as much as possible from the controlled vehicle's dynamics and of its environment. Vehicle dynamics…
In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-level control schemes. However, additionally integrating…
A key challenge to ensuring the rapid transition of robotic systems from the industrial sector to more ubiquitous applications is the development of algorithms that can guarantee safe operation while in close proximity to humans. Motion…
This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework.…
We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However,…
Many robot manipulation tasks require the robot to make and break contact with objects and surfaces. The dynamics of such changing-contact robot manipulation tasks are discontinuous when contact is made or broken, and continuous elsewhere.…
A vision system attached to a manipulator excels at tracing a moving target object while effectively handling obstacles, overcoming limitations arising from the camera's confined field of view and occluded line of sight. Meanwhile, the…
Multi-object nonprehensile transportation in teleoperation demands simultaneous trajectory tracking and tray orientation control. Existing methods often struggle with model dependency, uncertain parameters, and multi-object adaptability. We…
Ensuring human safety in collaborative robotics can compromise efficiency because traditional safety measures increase robot cycle time when human interaction is frequent. This paper proposes a safety-aware approach to mitigate efficiency…
The current dominant paradigm for robotic manipulation involves two separate stages: manipulator design and control. Because the robot's morphology and how it can be controlled are intimately linked, joint optimization of design and control…
An important factor in developing control models for human-robot collaboration is how acceptable they are to their human partners. One such method for creating acceptable control models is to attempt to mimic human-like behaviour in robots…
Safe control in dynamic traffic environments remains a major challenge for autonomous vehicles (AVs), as ego vehicle and obstacle states are inherently affected by sensing noise and estimation uncertainty. However, existing studies have not…
Robots in uncertain real-world environments must perform both goal-directed and exploratory actions. However, most deep learning-based control methods neglect exploration and struggle under uncertainty. To address this, we adopt deep active…
In this paper, we present "IVO: Inverse Velocity Obstacles" an ego-centric framework that improves the real time implementation. The proposed method stems from the concept of velocity obstacle and can be applied for both single agent and…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Efficient motion planning algorithms are of central importance for deploying robots in the real world. Unfortunately, these algorithms often drastically reduce the dimensionality of the problem for the sake of feasibility, thereby foregoing…
Autonomous navigation in extreme mountainous terrains poses challenges due to the presence of mobility-stressing elements and undulating surfaces, making it particularly difficult compared to conventional off-road driving scenarios. In such…
The inherent uncertainty of dynamic environments poses significant challenges for modeling robot behavior, particularly in tasks such as collision avoidance. This paper presents an online controller synthesis framework tailored for robots…