相关论文: Biologically Inspired Collision Avoidance Without …

Robots that physically interact with their surroundings, in order to accomplish some tasks or assist humans in their activities, require to exploit contact forces in a safe and proficient manner. Impedance control is considered as a…

We present a method for learning to drive on smooth terrain while simultaneously avoiding collisions in challenging off-road and unstructured outdoor environments using only visual inputs. Our approach applies a hybrid model-based and…

Next generation Unmanned Aerial Vehicles (UAVs) must reliably avoid moving obstacles. Existing dynamic collision avoidance methods are effective where obstacle trajectories are linear or known, but such restrictions are not accurate to many…

In this paper, we present a decentralized sensor-level collision avoidance policy for multi-robot systems, which shows promising results in practical applications. In particular, our policy directly maps raw sensor measurements to an…

... This paper is to describe exploratory research on the design of a modular autonomous mobile robot controller. The controller incorporates a fuzzy logic [8] [9] approach for steering and speed control [37], a FL approach for ultrasound…

In industrial applications, complex tasks require human collaboration since the robot doesn't have enough dexterity. However, the robots are still implemented as tools and not as collaborative intelligent systems. To ensure safety in the…

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,…

Deep reinforcement learning has achieved great success in laser-based collision avoidance work because the laser can sense accurate depth information without too much redundant data, which can maintain the robustness of the algorithm when…

We consider a single non-holonomic Dubins-like robot traveling with a constant longitudinal speed in an a priori unknown and unsteady planar environment. The robot should detect, locate, and track the boundary of a dynamic environmental…

This paper presents a three-dimensional, hydrodynamics-inspired collision avoidance framework for uncrewed aerial vehicle (UAV) formations operating in dynamic environments. When moving obstacles enter a UAV's sensing region, they are…

This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…

Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the scan plane. We…

This paper presents a study on autonomous robot navigation, focusing on three key behaviors: Odometry, Target Tracking, and Obstacle Avoidance. Each behavior is described in detail, along with experimental setups for simulated and…

In many human-in-the-loop robotic applications such as robot-assisted surgery and remote teleoperation, predicting the intended motion of the human operator may be useful for successful implementation of shared control, guidance virtual…

Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of human collision avoidance behavior are fragmented, focusing on…

Many mobile robots rely on 2D laser scanners for localization, mapping, and navigation. However, those sensors are unable to correctly provide distance to obstacles such as glass panels and tables whose actual occupancy is invisible at the…

As mobile service robots increasingly coexist with pedestrians, ensuring passively safe behaviour during confined emergency evacuations is critical. Existing multi-robot yielding strategies often focus solely on collision avoidance and…

The safe and efficient operation of Autonomous Mobile Robots (AMRs) in complex environments, such as manufacturing, logistics, and agriculture, necessitates accurate multi-object tracking and predictive collision avoidance. This paper…

Pedipulation leverages the feet of legged robots for mobile manipulation, eliminating the need for dedicated robotic arms. While previous works have showcased blind and task-specific pedipulation skills, they fail to account for static and…

Microscopic traffic flow models can be distinguished in lane-based or lane-free depending on the degree of lane-discipline. This distinction holds true only if motorcycles are neglected in lane-based traffic. In cities, as opposed to…