Related papers: Safe cooperative robot dynamics on graphs
This paper addresses the design of an optimization-based cooperative path-following control law for multiple robotic vehicles that optimally balances the transient trade-off between coordination and path-following errors. To this end, we…
Teams of UGVs patrolling harsh and complex 3D environments can experience interference and spatial conflicts with one another. Neglecting the occurrence of these events crucially hinders both soundness and reliability of a patrolling…
Safe and efficient co-planning of multiple robots in pedestrian participation environments is promising for applications. In this work, a novel multi-robot social-aware efficient cooperative planner that on the basis of off-policy…
This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…
Increasing interest in integrating advanced robotics within manufacturing has spurred a renewed concentration in developing real-time scheduling solutions to coordinate human-robot collaboration in this environment. Traditionally, the…
Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…
In practical applications, the unpredictable movement of obstacles and the imprecise state observation of robots introduce significant uncertainties for the swarm of robots, especially in cluster environments. However, existing methods are…
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…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
Human-multi-robot shared control leverages human decision-making and robotic autonomy to enhance human-robot collaboration. While widely studied, existing systems often adopt a leader-follower model, limiting robot autonomy to some extent.…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
The introduction of highly automated vehicles on the public road may improve safety and comfort, although its success will depend on social acceptance. This requires trajectory planning methods that provide safe, proactive, and comfortable…
This paper shows how Graph Neural Networks can be used for learning distributed coordination mechanisms in connected teams of robots. We capture the relational aspect of robot coordination by modeling the robot team as a graph, where each…
For automated driving, predicting the future trajectories of other road users in complex traffic situations is a hard problem. Modern neural networks use the past trajectories of traffic participants as well as map data to gather hints…
Autonomous navigation is a key skill for assistive and service robots. To be successful, robots have to navigate avoiding going through the personal spaces of the people surrounding them. Complying with social rules such as not getting in…
In general, there are two kinds of cooperative driving strategies, planning based strategy and ad hoc negotiation based strategy, for connected and automated vehicles (CAVs) merging problems. The planning based strategy aims to find the…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Obstacle avoidance and path planning are essential for guiding unmanned ground vehicles (UGVs) through environments that are densely populated with dynamic obstacles. This paper develops a novel approach that combines tangentbased path…
Sociability is essential for modern robots to increase their acceptability in human environments. Traditional techniques use manually engineered utility functions inspired by observing pedestrian behaviors to achieve social navigation.…
As the demands of autonomous mobile robots are increasing in recent years, the requirement of the path planning/navigation algorithm should not be content with the ability to reach the target without any collisions, but also should try to…