相关论文: Reachable Sets for Safe, Real-Time Manipulator Tra…
Practical use of robotic manipulators made from soft materials requires generating and executing complex motions. We present the first approach for generating trajectories of a thermally-actuated soft robotic manipulator. Based on…
Planning balanced and collision-free motion for humanoid robots is non-trivial, especially when they are operated in complex environments, such as reaching targets behind obstacles or through narrow passages. We propose a method that allows…
Collision-tolerant trajectory planning is the consideration that collisions, if they are planned appropriately, enable more effective path planning for robots capable of handling them. A mixed integer programming (MIP) optimization…
In this paper, a robot navigating an environment shared with humans is considered, and a cost function that can be exploited in $\text{RRT}^\text{X}$, a randomized sampling-based replanning algorithm that guarantees asymptotic optimality,…
Dynamic and contact-rich object manipulation, such as striking, snatching, or hammering, remains challenging for robotic systems due to hardware limitations. Most existing robots are constrained by high-inertia design, limited compliance,…
To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods provide a natural way to find a dynamically feasible trajectory…
Safe trajectory planning in complex environments must balance stringent collision avoidance with real-time efficiency, which is a long-standing challenge in robotics. In this work, we present a diffusion-based trajectory planning framework…
A significant challenge in manipulation motion planning is to ensure agility in the face of unpredictable changes during task execution. This requires the identification and possible modification of suitable joint-space trajectories, since…
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…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Robotic manipulation of deformable objects remains a challenging task. One such task is folding a garment autonomously. Given start and end folding positions, what is an optimal trajectory to move the robotic arm to fold a garment? Certain…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
In this paper, we present the main features of Dynamic Rapidly-exploring Generalized Bur Tree (DRGBT) algorithm, a sampling-based planner for dynamic environments. We provide a detailed time analysis and appropriate scheduling to facilitate…
Multi-axle autonomous mobile robots (AMRs) are set to revolutionize the future of robotics in logistics. As the backbone of next-generation solutions, these robots face a critical challenge: managing and minimizing the swept volume during…
We consider the best arm identification problem, where the goal is to identify the arm with the highest mean reward from a set of $K$ arms under a limited sampling budget. This problem models many practical scenarios such as A/B testing. We…
Autonomous systems like aircraft and assistive robots often operate in scenarios where guaranteeing safety is critical. Methods like Hamilton-Jacobi reachability can provide guaranteed safe sets and controllers for such systems. However,…
The autonomous driving industry is expected to grow by over 20 times in the coming decade and, thus, motivate researchers to delve into it. The primary focus of their research is to ensure safety, comfort, and efficiency. An autonomous…
This paper presents a trajectory optimization and control approach for the guidance of an orbital four-arm robot in extravehicular activities. The robot operates near the target spacecraft, enabling its arm's end-effectors to reach the…
As drones and autonomous cars become more widespread it is becoming increasingly important that robots can operate safely under realistic conditions. The noisy information fed into real systems means that robots must use estimates of the…
Manipulators can be added to legged robots, allowing them to interact with and change their environment. Legged mobile manipulation planners must consider how contact forces generated by these manipulators affect the system. Current…