相关论文: Safe Planning for Articulated Robots Using Reachab…
Nowadays, robots are increasingly operated in environments shared with humans, where conflicts between human and robot behaviors may compromise safety. This paper presents a proactive behavioral conflict avoidance framework based on the…
This paper addresses the challenges of exploration and navigation in unknown environments from the perspective of evolutionary swarm robotics. A key focus is on path formation, which is essential for enabling cooperative swarm robots to…
The next frontier in solar system exploration will be missions targeting extreme and rugged environments such as caves, canyons, cliffs and crater rims of the Moon, Mars and icy moons. These environments are time capsules into early…
To operate safely and efficiently, autonomous warehouse/delivery robots must be able to accomplish tasks while navigating in dynamic environments and handling the large uncertainties associated with the motions/behaviors of other robots…
Most skydiving accidents occur during the parafoil-piloting and landing stages and result from human lapses in judgment while piloting the parafoil. Training of novice pilots is protracted due to the lack of functional and easily accessible…
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,…
This research paper addresses the challenges of exploration and navigation in unknown environments from an evolutionary swarm robotics perspective. Path formation plays a crucial role in enabling cooperative swarm robots to accomplish these…
Optimal path planning problems for rigid and deformable (bendable) cuboid robots are considered by providing an analytic safety constraint using generalized $L_p$ norms. For regular cuboid robots, level sets of weighted $L_p$ norms generate…
Formation maintenance with varying number of drones in narrow environments hinders the convergence of planning to the desired configurations. To address this challenge, this paper proposes a formation planning method guided by Deformable…
This paper proposes a formal robot motion risk reasoning framework and develops a risk-aware path planner that minimizes the proposed risk. While robots locomoting in unstructured or confined environments face a variety of risk, existing…
This paper investigates Path planning Among Movable Obstacles (PAMO), which seeks a minimum cost collision-free path among static obstacles from start to goal while allowing the robot to push away movable obstacles (i.e., objects) along its…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
Motion planners for mobile robots in unknown environments face the challenge of simultaneously maintaining both robustness against unmodeled uncertainties and persistent feasibility of the trajectory-finding problem. That is, while dealing…
The ability to autonomously navigate safely, especially within dynamic environments, is paramount for mobile robotics. In recent years, DRL approaches have shown superior performance in dynamic obstacle avoidance. However, these…
Autonomous mobile robots must maintain safety, but should not sacrifice performance, leading to the classical reach-avoid problem: find a trajectory that is guaranteed to reach a goal and avoid obstacles. This paper addresses the near…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
Robotic grasping is a fundamental skill across all domains of robot applications. There is a large body of research for grasping objects in table-top scenarios, where finding suitable grasps is the main challenge. In this work, we are…
Soft robots, inspired by elephant trunks or octopus arms, offer extraordinary flexibility to bend, twist, and elongate in ways that rigid robots cannot. However, their motion planning remains a challenge, especially in cluttered…
This paper presents a real-time trajectory planning framework for Urban Air Mobility (UAM) that is both safe and scalable. The proposed framework employs a decentralized, free-flight concept of operation in which each aircraft independently…
There has been increasing awareness of the difficulties in reaching and extracting people from mass casualty scenarios, such as those arising from natural disasters. While platforms have been designed to consider reaching casualties and…