相关论文: APF-PF: Probabilistic Depth Perception for 3D Reac…

Model based methods to marker-free motion capture have a very high computational overhead that make them unattractive. In this paper we describe a method that improves on existing global optimization techniques to tracking articulated…

The goal of this thesis is to propose the combination of Control-Barrier-Functions (CBF) with Model-Predictive-Control (MPC) resulting in the novel Model-Predictive-Control-Barrier-Function (MPCBF). It can be shown, that the performance of…

We present a perception-driven safety filter that converts each 3D Gaussian Splat (3DGS) into a closed-form forward collision cone, which in turn yields a first-order control barrier function (CBF) embedded within a quadratic program (QP).…

Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…

Autonomous ground vehicle systems have found extensive potential and practical applications in the modern world. The development of an autonomous ground vehicle poses a significant challenge, particularly in identifying the best path plan,…

In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…

Path planning is a fundamental component in autonomous mobile robotics, enabling a robot to navigate from its current location to a desired goal while avoiding obstacles. Among the various techniques, Artificial Potential Field (APF)…

Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…

Unmanned Aerial Vehicle (UAV) spectral remote sensing technology is widely used in water quality monitoring. However, in dynamic environments, varying illumination conditions, such as shadows and specular reflection (sun glint), can cause…

We study the problem of collision-free humanoid traversal in cluttered indoor scenes, such as hurdling over objects scattered on the floor, crouching under low-hanging obstacles, or squeezing through narrow passages. To achieve this goal,…

Traditional framework of discriminative correlation filters (DCF) is often subject to undesired boundary effects. Several approaches to enlarge search regions have been already proposed in the past years to make up for this shortcoming.…

Radar sensors play a crucial role for perception systems in automated driving but suffer from a high level of noise. In the past, this could be solved by strict filters, which remove most false positives at the expense of undetected…

High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…

Complex tasks require human collaboration since robots do not have enough dexterity. However, robots are still used as instruments and not as collaborative systems. We are introducing a framework to ensure safety in a human-robot…

This paper presents a novel quasi-centralized approach for collision-free path planning of multi-robot systems (MRS) in obstacle-ridden environments. A new formation potential fields (FPF) concept is proposed around a virtual agent, located…

In this work, we address the problem of ensuring real-time safety in autonomous robot navigation, in spatially constrained dynamic environments, by utilizing only onboard sensors. We present a real-time control architecture that integrates…

Arbitrary Pattern Formation (APF) is a fundamental coordination problem in swarm robotics. It requires a set of autonomous robots (mobile computing units) to form an arbitrary pattern (given as input) starting from any initial pattern. This…

Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this…

In this article we propose a reactive constrained navigation scheme, with embedded obstacles avoidance for an Unmanned Aerial Vehicle (UAV), for enabling navigation in obstacle-dense environments. The proposed navigation architecture is…

This paper presents a novel control method for a group of UAVs in obstacle-laden environments while preserving sensing network connectivity without data transmission between the UAVs. By leveraging constraints rooted in control barrier…