相关论文: Avoiding Dense and Dynamic Obstacles in Enclosed S…

Robot crowd navigation has been gaining increasing attention and popularity in various practical applications. In existing research, deep reinforcement learning has been applied to robot crowd navigation by training policies in an online…

In a recent work [A. Deger et al., Phys. Rev. Lett. 129, 160601 (2022)] we have shown that kinetic constraints can completely arrest many-body chaos in the dynamics of a classical, deterministic, translationally-invariant spin system with…

Loop closure is an important task in robot navigation. However, existing methods mostly rely on some implicit or heuristic features of the environment, which can still fail to work in common environments such as corridors, tunnels, and…

This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…

Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…

This paper proposes an integrated approach for the safe and efficient control of mobile robots in dynamic and uncertain environments. The approach consists of two key steps: one-shot multimodal motion prediction to anticipate motions of…

Real-world environments are inherently uncertain, and to operate safely in these environments robots must be able to plan around this uncertainty. In the context of motion planning, we desire systems that can maintain an acceptable level of…

We conducted numerical simulation for a crowd of pedestrians. Each pedestrian, modeled with three circles, has a shape whose long axis is perpendicular to the anteroposterior axis, and is designed to move fixed destination. The pedestrians…

We model collective disk flow though a square array of obstacles as the flow direction is changed relative to the symmetry directions of the array. At lower disk densities there is no clogging for any driving direction, but as the disk…

Recent work in robotic manipulation focuses on object retrieval in cluttered spaces under occlusion. Nevertheless, the majority of efforts lack an analysis of conditions for the completeness of the approaches or the methods apply only when…

Challenges in traversing dynamic clutters lie mainly in the efficient perception of the environmental dynamics and the generation of evasive behaviors considering obstacle movement. Previous solutions have made progress in explicitly…

Modeling crowds has many important applications in games and computer animation. Inspired by the emergent following effect in real-life crowd scenarios, in this work, we develop a method for implicitly grouping moving agents. We achieve…

Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on motion planning has followed two main strategies to provide a safe bound on an…

In this paper, a novel immersed boundary method is developed, validated, and applied. Through devising a second-order three-step flow reconstruction scheme, the proposed method is able to enforce the Dirichlet, Neumann, Robin, and Cauchy…

We present a unified approach for constraint displacement problems in which a robot finds a feasible path by displacing constraints or obstacles. To this end, we propose a two stage process that returns locally optimal obstacle…

Ensuring safety and robustness of robot skills is becoming crucial as robots are required to perform increasingly complex and dynamic tasks. The former is essential when performing tasks in cluttered environments, while the latter is…

The present work reports a novel investigation into the collisional dynamics of particles in the vicinity of the outlet of a 2D silo using molecular dynamics simulations. Most studies on this granular system focus in the bulk of the medium.…

This paper studies how groups of robots can effectively navigate through a crowd of agents. It quantifies the performance of platooning and less constrained, greedy strategies, and the extent to which these strategies disrupt the crowd…

The question on expansion of moving volume inside of a smooth flow of the compressible liquid is under consideration. We find a condition on initial data such that if it holds, then within a finite time either the boundary of the moving…

Motion planning methods for autonomous systems based on nonlinear programming offer great flexibility in incorporating various dynamics, objectives, and constraints. One limitation of such tools is the difficulty of efficiently representing…