相关论文: Visualizing High-Dimensional Configuration Spaces:…

Computational models are quantitative representations of systems. By analyzing and comparing the outputs of such models, it is possible to gain a better understanding of the system itself. Though as the complexity of model outputs…

Dual-arm mobile manipulators can transport and manipulate large-size objects with simple end-effectors. To interact with dynamic environments with strict safety and compliance requirements, achieving whole-body motion planning online while…

In manipulation tasks, a robot interacts with movable object(s). The configuration space in manipulation planning is thus the Cartesian product of the configuration space of the robot with those of the movable objects. It is the complex…

Search-based methods that use motion primitives can incorporate the system's dynamics into the planning and thus generate dynamically feasible MAV trajectories that are globally optimal. However, searching high-dimensional state lattices is…

Autonomous robots require high degrees of cognitive and motoric intelligence to come into our everyday life. In non-structured environments and in the presence of uncertainties, such degrees of intelligence are not easy to obtain.…

In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft constraints within a Model Predictive Control (MPC) scheme…

There have been remarkable successes in computer vision with deep learning. While such breakthroughs show robust performance, there have still been many challenges in learning in-depth knowledge, like occlusion or predicting physical…

An open problem in robotics is that of using vision to identify a robot's own body and the world around it. Many models attempt to recover the traditional C-space parameters. Instead, we propose an alternative C-space by deriving…

Optimization based motion planning provides a useful modeling framework through various costs and constraints. Using Graph of Convex Sets (GCS) for trajectory optimization gives guarantees of feasibility and optimality by representing…

This paper contributes a novel strategy for semantics-aware autonomous exploration and inspection path planning. Attuned to the fact that environments that need to be explored often involve a sparse set of semantic entities of particular…

Motion planning for autonomous vehicles requires generating collision-free and dynamically feasible trajectories in complex environments under real-time constraints. While nonlinear optimal control formulations provide high-fidelity…

This paper proposes a novel 3D graphical representation for impedance control, called the impedance space, to foster the analysis of the dynamic behavior of robotic compliant controllers. The method overcomes limitations of existing 2D…

This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner leverages a similar high-level conflict tree to efficiently…

Ground robots which are able to navigate a variety of terrains are needed in many domains. One of the key aspects is the capability to adapt to the ground structure, which can be realized through movable body parts coming along with…

Manipulation in confined and cluttered environments remains a significant challenge due to partial observability and complex configuration spaces. Effective manipulation in such environments requires an intelligent exploration strategy to…

In robotics, simulation has the potential to reduce design time and costs, and lead to a more robust engineered solution and a safer development process. However, the use of simulators is predicated on the availability of good models. This…

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…

We present a novel approach to robustly detect and perceive vehicles in different camera views as part of a cooperative vehicle-infrastructure system (CVIS). Our formulation is designed for arbitrary camera views and makes no assumptions…

We present the Critical Design Strategy (CDS) - a structured method designed to facilitate the examination of visualisation designs through reflection and critical thought. The CDS helps designers think critically and make informed…

An analysis of high-dimensional data can offer a detailed description of a system but is often challenged by the curse of dimensionality. General dimensionality reduction techniques can alleviate such difficulty by extracting a few…