相关论文: Risk-Aware Non-Myopic Motion Planner for Large-Sca…

This paper studies the problem of risk-averse receding horizon motion planning for agents with uncertain dynamics, in the presence of stochastic, dynamic obstacles. We propose a model predictive control (MPC) scheme that formulates the…

Swarm robotic trajectory planning faces challenges in computational efficiency, scalability, and safety, particularly in complex, obstacle-dense environments. To address these issues, we propose SwarmDiff, a hierarchical and scalable…

One of the critical challenges in automated driving is ensuring safety of automated vehicles despite the unknown behavior of the other vehicles. Although motion prediction modules are able to generate a probability distribution associated…

Risk averse decision making under uncertainty in partially observable domains is a fundamental problem in AI and essential for reliable autonomous agents. In our case, the problem is modeled using partially observable Markov decision…

Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavoidable. While controlled contact can assist motion,…

Risk sensitive decision making finds important applications in current day use cases. Existing risk measures consider a single or finite collection of random variables, which do not account for the asymptotic behaviour of underlying…

Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…

Safe control in dynamic traffic environments remains a major challenge for autonomous vehicles (AVs), as ego vehicle and obstacle states are inherently affected by sensing noise and estimation uncertainty. However, existing studies have not…

Loop closure detection is important for simultaneous localization and mapping (SLAM), which associates current observations with historical keyframes, achieving drift correction and global relocalization. However, a falsely detected loop…

To guide the movement of a robotic swarm in a corridor-like environment, a curve virtual tube with no obstacle inside is designed in our previous work. This paper generalizes the controller design to the condition that all robots have…

In high-stakes machine learning applications, it is crucial to not only perform well on average, but also when restricted to difficult examples. To address this, we consider the problem of training models in a risk-averse manner. We propose…

To enable safe and effective human-robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication…

Multi-robot systems (MRS) are essential for large-scale applications such as disaster response, material transport, and warehouse logistics, yet ensuring robust, safety-aware formation control in cluttered and dynamic environments remains a…

Cooperative multi-robot missions often require teams of robots to traverse environments where traversal risk evolves due to adversary patrols or shifting hazards with stochastic dynamics. While support coordination--where robots assist…

Planning in environments with moving obstacles remains a significant challenge in robotics. While many works focus on navigation and path planning in obstacle-dense spaces, traversing such congested regions is often avoidable by selecting…

We address the problem of coordination and control of Connected and Automated Vehicles (CAVs) in the presence of imperfect observations in mixed traffic environment. A commonly used approach is learning-based decision-making, such as…

Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…

This paper presents a motion planning and risk analysis framework for enhancing human-robot collaboration with a Multi-Rotor Aerial Vehicle. The proposed method employs Signal Temporal Logic to encode key mission objectives, including…

Autonomous robots operating in complex environments face the critical challenge of identifying and utilizing environmental cover for covert navigation to minimize exposure to potential threats. We propose EnCoMP, an enhanced navigation…

Deploying self-navigating surface vessels in inland waterways offers a sustainable alternative to reduce road traffic congestion and emissions. However, navigating confined waterways presents unique challenges, including narrow channels,…