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During the conceptual and prototype design stage of an industrial product, it is crucial to take assembly/disassembly and maintenance operations in advance. A well-designed system should enable relatively easy access of operating…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
This paper presents a method for online trajectory planning in known environments. The proposed algorithm is a fusion of sampling-based techniques and model-based optimization via quadratic programming. The former is used to efficiently…
In the context of mobile navigation in unstructured environments, the predominant approach entails the avoidance of obstacles. The prevailing path planning algorithms are contingent upon deviating from the intended path for an indefinite…
Robots operating alongside humans often encounter unfamiliar environments that make autonomous task completion challenging. Though improving models and increasing dataset size can enhance a robot's performance in unseen environments, data…
Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn these mappings from human demonstrations: a non-disabled…
Human motion is stochastic and ensuring safe robot navigation in a pedestrian-rich environment requires proactive decision-making. Past research relied on incorporating deterministic future states of surrounding pedestrians which can be…
This paper focuses on real-time occupancy mapping and collision checking onboard an autonomous robot navigating in an unknown environment. We propose a new map representation, in which occupied and free space are separated by the decision…
This paper proposes an algorithm capable of driving a system to follow a piecewise linear trajectory without prior knowledge of the system dynamics. Motivated by a critical failure scenario in which a system can experience an abrupt change…
Robots-operating autonomous assembly applications in an unstructured environment require precise methods to locate the building components on site. However, the current available object detection systems are not well-optimised for…
As a core part of autonomous driving systems, motion planning has received extensive attention from academia and industry. However, real-time trajectory planning capable of spatial-temporal joint optimization is challenged by nonholonomic…
Tensegrity robots, composed of rigid struts and elastic tendons, provide impact resistance, low mass, and adaptability to unstructured terrain. Their compliance and complex, coupled dynamics, however, present modeling and control…
We consider the problem of autonomous mobile robot exploration in an unknown environment, taking into account a robot's coverage rate, map uncertainty, and state estimation uncertainty. This paper presents a novel exploration framework for…
Multi-robot global localization (MR-GL) with unknown initial positions in a large scale environment is a challenging task. The key point is the data association between different robots' viewpoints. It also makes traditional…
Motion planning under sensing uncertainty is critical for robots in unstructured environments to guarantee safety for both the robot and any nearby humans. Most work on planning under uncertainty does not scale to high-dimensional robots…
Safe navigation in real-time is an essential task for humanoid robots in real-world deployment. Since humanoid robots are inherently underactuated thanks to unilateral ground contacts, a path is considered safe if it is obstacle-free and…
When deploying autonomous systems in unknown and changing environments, it is critical that their motion planning and control algorithms are computationally efficient and can be reapplied online in real time, whilst providing theoretical…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
We develop a control algorithm that ensures the safety, in terms of confinement in a set, of a system with unknown, 2nd-order nonlinear dynamics. The algorithm establishes novel connections between data-driven and robust, nonlinear control.…