相关论文: Biologically Inspired Collision Avoidance Without …
Developing a safe and efficient collision avoidance policy for multiple robots is challenging in the decentralized scenarios where each robot generate its paths without observing other robots' states and intents. While other distributed…
Personal mobile robotic assistants are expected to find wide applications in industry and healthcare. For example, people with limited mobility can benefit from robots helping with daily tasks, or construction workers can have robots…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…
In this article an anisotropic interaction model avoiding collisions is proposed. Starting point is a general isotropic interacting particle system, as used for swarming or follower-leader dynamics. An anisotropy is induced by rotation of…
Collision detection and recovery for aerial robots remain a challenge because of the limited space for sensors and local stability of the flight controller. We introduce a novel collision-resilient quadrotor that features a compliant arm…
An important question for the practical applicability of the highly efficient traffic intersection control is about the minimal level of intelligence the vehicles need to have so as to move beyond the traffic light control. We propose an…
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…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Achieving robust legged locomotion on complex terrains poses challenges due to the high uncertainty in robot-environment interactions. Recent advances in bipedal and quadrupedal robots demonstrate good mobility on rugged terrains but rely…
Biological sensory systems are inherently adaptive, filtering out constant stimuli and prioritizing relative changes, likely enhancing computational and metabolic efficiency. Inspired by active sensing behaviors across a wide range of…
This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…
We present AVOCADO (AdaptiVe Optimal Collision Avoidance Driven by Opinion), a novel navigation approach to address holonomic robot collision avoidance when the robot does not know how cooperative the other agents in the environment are.…
An accurate model of the environment and the dynamic agents acting in it offers great potential for improving motion planning. We present MILE: a Model-based Imitation LEarning approach to jointly learn a model of the world and a policy for…
This communication on collision avoidance with unexpected obstacles is motivated by some critical appraisals on reinforcement learning (RL) which "requires ridiculously large numbers of trials to learn any new task" (Yann LeCun). We use the…
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obtain the desired motion with a torque-controlled robot, which…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…
Obstacle avoidance is essential for ensuring the safety of autonomous vehicles. Accurate perception and motion planning are crucial to enabling vehicles to navigate complex environments while avoiding collisions. In this paper, we propose…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…