相关论文: Avoidance of Concave Obstacles through Rotation of…
We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However,…
In this paper, we consider the general problem of obstacle avoidance based on dynamical system. The modulation matrix is developed by introducing orthogonal coordinates, which makes the modulation matrix more reasonable. The new…
In recent years, the mobile robot has been considerable attention to researchers for its application in various environments. For a mobile robot navigating its way from starting point to a goal point while traversing through deterrents,…
In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often inertial) reference frame. In the current work, we propose to…
In this paper, we propose a trajectory optimization for computing smooth collision free trajectories for nonholonomic curvature bounded vehicles among static and dynamic obstacles. One of the key novelties of our formulation is a hierarchal…
Challenges persist in nonholonomic robot navigation in dynamic environments. This paper presents a framework for such navigation based on the model of generalized velocity obstacles (GVO). The idea of velocity obstacles has been well…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
DAMON leverages manifold learning and variational autoencoding to achieve obstacle avoidance, allowing for motion planning through adaptive graph traversal in a pre-learned low-dimensional hierarchically-structured manifold graph that…
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision…
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…
Collision-free navigation in cluttered environments with static and dynamic obstacles is essential for many multi-robot tasks. Dynamic obstacles may also be interactive, i.e., their behavior varies based on the behavior of other entities.…
Compared to conventional decomposition methods that use ellipses or polygons to represent free space, starshaped representation can better capture the natural distribution of sensor data, thereby exploiting a larger portion of traversable…
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…
This paper presents a robot control algorithm suitable for safe reactive navigation tasks in cluttered environments. The proposed approach consists of transforming the robot workspace into the \emph{ball world}, an artificial representation…
Safe and efficient collaboration among multiple robots in unstructured environments is increasingly critical in the era of Industry 4.0. However, achieving robust and autonomous collaboration among humans and other robots requires modern…
Robust navigation in changing marine environments requires autonomous systems capable of perceiving, reasoning, and acting under uncertainty. This study introduces a hybrid risk-aware navigation architecture that integrates probabilistic…
Continuum robots, characterized by their high flexibility and infinite degrees of freedom (DoFs), have gained prominence in applications such as minimally invasive surgery and hazardous environment exploration. However, the intrinsic…
Popular navigation stacks implemented on top of open-source frameworks such as ROS(Robot Operating System) and ROS2 represent the robot workspace using a discretized 2D occupancy grid. This method, while requiring less computation,…
Avoiding obstacles in the perceived world has been the classical approach to autonomous mobile robot navigation. However, this usually leads to unnatural and inefficient motions that significantly differ from the way humans move in tight…
Avoiding hybrid obstacles in unknown scenarios with an efficient flight strategy is a key challenge for unmanned aerial vehicle applications. In this paper, we introduce a more robust technique to distinguish and track dynamic obstacles…