相关论文: Spontaneous-Ordering Platoon Control for Multirobo…

This study is about the implementation of a reinforcement learning algorithm in the trajectory planning of manipulators. We have a 7-DOF robotic arm to pick and place the randomly placed block at a random target point in an unknown…

The ability to automatically encircle boundaries with mobile robots is crucial for tasks such as border tracking and object enclosing. Previous research has primarily focused on regular boundaries, often assuming that their geometric…

We present a distributed control strategy for a team of quadrotors to autonomously achieve a desired 3D formation. Our approach is based on local relative position measurements and does not require global position information or…

Reference path following is a key component in the functioning of almost all engineered autonomous agents. Among several path following guidance methods in existing literature, vector-field-based guidance approach has got wide attention…

In mobile robot shared control, effectively understanding human motion intention is critical for seamless human-robot collaboration. This paper presents a novel shared control framework featuring planning-level intention prediction. A path…

Robotic fiber positioner (RFP) arrays are becoming heavily adopted in wide field massively multiplexed spectroscopic survey instruments. RFP arrays decrease nightly operational overheads through rapid reconfiguration between fields and…

Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…

Quadruped platforms have become an active topic of research due to their high mobility and traversability in rough terrain. However, it is highly challenging to determine whether the clattered environment could be passed by the robot and…

Motion planning is challenging for multiple robots in cluttered environments without communication, especially in view of real-time efficiency, motion safety, distributed computation, and trajectory optimality, etc. In this paper, a…

This paper presents an approach to externally influencing a team of robots by means of time-varying density functions. These density functions represent rough references for where the robots should be located. To this end, a continuous-time…

Neural Signed Distance Fields (SDFs) provide a differentiable environment representation to readily obtain collision checks and well-defined gradients for robot navigation tasks. However, updating neural SDFs as the scene evolves entails…

A robotic solution for the unmanned ground vehicles (UGVs) to execute the highly complex task of object manipulation in an autonomous mode is presented. This paper primarily focuses on developing an autonomous robotic system capable of…

Swarms of Unmanned Aerial Vehicles (UAV) have demonstrated enormous potential in many industrial and commercial applications. However, before deploying UAVs in the real world, it is essential to ensure they can operate safely in complex…

The main objective of this paper is to provide a tool for performing path planning at the servo level of a mobile robot. The ability to perform, in a provably correct manner, such a complex task at the servo level can lead to a large…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…

In the literature, a distributed consensus protocol by which a connected swarm of agents can generate artistic patterns in 2-dimensional space is proposed. Motivated by this protocol, in this paper, we design the parameters of this protocol…

Cooperative control of multi-UAV systems has attracted substantial research attention due to its significance in various application sectors such as emergency response, search and rescue missions, and critical infrastructure inspection.…

Significant advances in sensing, robotics, and wireless networks have enabled the collaborative utilization of autonomous aerial, ground and underwater vehicles for various applications. However, to successfully harness the benefits of…

Path planning in dynamic environments is essential to high-risk applications such as unmanned aerial vehicles, self-driving cars, and autonomous underwater vehicles. In this paper, we generate collision-free trajectories for a robot within…

This paper addresses the problem of autonomous robot navigation in unknown, obstacle-filled environments with second-order dynamics by proposing a Dissipative Avoidance Feedback (DAF). Compared to the Artificial Potential Field (APF), which…