相关论文: Collision Avoidance in Next-generation Fiber Posit…
Recently, many reactive trajectory planning approaches were suggested in the literature because of their inherent immediate adaption in the ever more demanding cluttered and unpredictable environments of robotic systems. However, typically…
Robust motion planning is a well-studied problem in the robotics literature, yet current algorithms struggle to operate scalably and safely in the presence of other moving agents, such as humans. This paper introduces a novel framework for…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Rigid-formation navigation of multiple robots is essential for applications such as cooperative transportation. This process involves a team of collaborative robots maintaining a predefined geometric configuration, such as a square, while…
Massive spectroscopic survey are becoming trendy in astrophysics and cosmology, as they can address new fundamental knowledge such as Galactic Archaeology and probe the nature of the mysterious Dark Energy. To enable massive spectroscopic…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Decentralized multi-robot systems typically perform coordinated motion planning by constantly broadcasting their intentions as a means to cope with the lack of a central system coordinating the efforts of all robots. Especially in complex…
This paper investigates the online motion coordination problem for a group of mobile robots moving in a shared workspace, each of which is assigned a linear temporal logic specification. Based on the realistic assumptions that each robot is…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
We present a novel, decentralized collision avoidance algorithm for navigating a swarm of quadrotors in dense environments populated with static and dynamic obstacles. Our algorithm relies on the concept of Optimal Reciprocal…
Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…
This paper presents a method for local motion planning in unstructured environments with static and moving obstacles, such as humans. Given a reference path and speed, our optimization-based receding-horizon approach computes a local…
We propose a decentralized collision-avoidance mechanism for a group of independently controlled robots moving on a shared workspace. Existing algorithms achieve multi-robot collision avoidance either (a) in a centralized setting, or (b) in…
This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed approach exploits arrays of multi zone Time-of-Flight (ToF)…
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning…
Fifth-generation (5G) networks are expected to provide high-precision positioning estimation utilizing mmWave signals in urban and downtown areas. In such areas, 5G base stations (BSs) will be densely deployed, allowing for line-of-sight…
In this paper, we present a parallel architecture for a sensor fusion detection system that combines a camera and 1D light detection and ranging (lidar) sensor for object detection. The system contains two object detection methods, one…
Collision avoidance is one of the most important topics in the robotics field. The goal is to move the robots from initial locations to target locations such that they follow shortest non-colliding paths in the shortest time and with the…
Most, if not all, robot navigation systems employ a decomposed planning framework that includes global and local planning. To trade-off onboard computation and plan quality, current systems have to limit all robot dynamics considerations…