相关论文: Time-Optimal Path Tracking with ISO Safety Guarant…

Coordinating the motion of multiple robots in cluttered environments remains a computationally challenging task. We study the problem of minimizing the execution time of a set of geometric paths by a team of robots with state-dependent…

Human safety has always been the main priority when working near an industrial robot. With the rise of Human-Robot Collaborative environments, physical barriers to avoiding collisions have been disappearing, increasing the risk of accidents…

Human awareness in robot motion planning is crucial for seamless interaction with humans. Many existing techniques slow down, stop, or change the robot's trajectory locally to avoid collisions with humans. Although using the information on…

In human-robot collaboration, there has been a trade-off relationship between the speed of collaborative robots and the safety of human workers. In our previous paper, we introduced a time-optimal path tracking algorithm designed to…

Humanoid robots have the potential capability to perform a diverse range of manipulation tasks, but this is based on a robust and precise standing controller. Existing methods are either ill-suited to precisely control high-dimensional…

In pursuit of the time-optimal path tracking (TOPT) trajectory of a robot manipulator along a preset path, a beforehand identified robot dynamic model is usually used to obtain the required optimal trajectory for perfect tracking. However,…

Generating time-optimal, collision-free trajectories for autonomous mobile robots involves a fundamental trade-off between guaranteeing safety and managing computational complexity. State-of-the-art approaches formulate spline-based motion…

This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none…

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…

This paper presents a solution for the problem of optimal planning for a robot in a collaborative human-robot team, where the human supervisor is intermittently available to assist the robot in completing tasks more quickly. Specifically,…

In this paper, we consider the automated planning of optimal paths for a robotic team satisfying a high level mission specification. Each robot in the team is modeled as a weighted transition system where the weights have associated…

This work presents an efficient method to solve a class of continuous-time, continuous-space stochastic optimal control problems of robot motion in a cluttered environment. The method builds upon a path integral representation of the…

Navigating a collision-free and optimal trajectory for a robot is a challenging task, particularly in environments with moving obstacles such as humans. We formulate this problem as a stochastic optimal control problem. Since solving the…

Modern industry still relies on manual manufacturing operations and safe human-robot interaction is of great interest nowadays. Speed and Separation Monitoring (SSM) allows close and efficient collaborative scenarios by maintaining a…

In order for autonomous vehicles to become a part of the Intelligent Transportation Ecosystem, they are required to guarantee a particular level of safety. For that to happen a safe vehicle control algorithms need to be developed, which…

The need to guarantee safety of collaborative robots limits their performance, in particular, their speed and hence cycle time. The standard ISO/TS 15066 defines the Power and Force Limiting operation mode and prescribes force thresholds…

Neural-based motion planning methods have achieved remarkable progress for robotic manipulators, yet a fundamental challenge lies in simultaneously accounting for both the robot's physical shape and the surrounding environment when…

In this paper, a speed and separation monitoring (SSM) based safety controller using three time-of-flight ranging sensor arrays fastened to the robot links, is implemented. Based on the human-robot minimum distance and their relative…

Safe and smooth robot motion around obstacles is an essential skill for autonomous robots, especially when operating around people and other robots. Conventionally, due to real-time operation requirements and onboard computation…

In this paper, we present a learning-based approach that allows a robot to quickly follow a reference path defined in joint space without exceeding limits on the position, velocity, acceleration and jerk of each robot joint. Contrary to…