相关论文: Control-Barrier-Aided Teleoperation with Visual-In…
Hybrid dynamical systems are ubiquitous as practical robotic applications often involve both continuous states and discrete switchings. Safety is a primary concern for hybrid robotic systems. Existing safety-critical control approaches for…
Fast and reliable wireless communication has become a critical demand in human life. In the case of mission-critical (MC) scenarios, for instance, when natural disasters strike, providing ubiquitous connectivity becomes challenging by using…
This paper introduces a novel safety-critical control method through the synthesis of control barrier functions (CBFs) for systems with high-relative-degree safety constraints. By extending the procedure of CBF backstepping, we propose…
Manipulating Deformable Linear Objects (DLOs) is challenging in robotics due to their infinite-dimensional configuration space and complex nonlinear dynamics. In teleoperation, depth uncertainty hinders state perception and reaction.…
In this paper, we propose an novel implementation of a simultaneous localization and mapping (SLAM) system based on a monocular camera from an unmanned aerial vehicle (UAV) using Depth prediction performed with Capsule Networks (CapsNet),…
Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filtering. If necessary, the filter modifies control inputs to…
Inter-robot collisions pose a significant safety risk when multiple robotic arms operate in close proximity. We present an online collision avoidance methodology leveraging High-Order Control Barrier Functions (HOCBFs) constructed for safe…
The increasing complexity of modern robotic systems and the environments they operate in necessitates the formal consideration of safety in the presence of imperfect measurements. In this paper we propose a rigorous framework for…
Navigating unstructured environments requires assessing traversal risk relative to a robot's physical capabilities, a challenge that varies across embodiments. We present CATNAV, a cost-aware traversability navigation framework that…
Safety is a fundamental requirement of control systems. Control Barrier Functions (CBFs) are proposed to ensure the safety of the control system by constructing safety filters or synthesizing control inputs. However, the safety guarantee…
Control barrier functions (CBF) are widely explored to enforce the safety-critical constraints on nonlinear systems recently. There are many researchers incorporating the control barrier functions into path planning algorithms to find a…
Operating a multi-robot fleet for simultaneous localization and mapping (SLAM) in applications such as building inspection or warehouse-aisle monitoring requires the operator to maintain spatial awareness of each robot's position and…
Driven by applications like Micro Aerial Vehicles (MAVs), driver-less cars, etc, localization solution has become an active research topic in the past decade. In recent years, Ultra Wideband (UWB) emerged as a promising technology because…
Adaptive control has focused on online control of dynamic systems in the presence of parametric uncertainties, with solutions guaranteeing stability and control performance. Safety, a related property to stability, is becoming increasingly…
This paper shows a strategy based on passive force control for collaborative object transportation using Micro Aerial Vehicles (MAVs), focusing on the transportation of a bulky object by two hexacopters. The goal is to develop a robust…
Latent safety filters extend Hamilton-Jacobi (HJ) reachability to operate on latent state representations and dynamics learned directly from high-dimensional observations, enabling safe visuomotor control under hard-to-model constraints.…
LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…
Ensuring safe interactions in human-centric environments requires robots to understand and adhere to constraints recognized by humans as "common sense" (e.g., "moving a cup of water above a laptop is unsafe as the water may spill" or…
Navigation solutions suitable for cases when both autonomous robot's pose (\textit{i.e}., attitude and position) and its environment are unknown are in great demand. Simultaneous Localization and Mapping (SLAM) fulfills this need by…
Robust Visual SLAM (vSLAM) is essential for autonomous systems operating in real-world environments, where challenges such as dynamic objects, low texture, and critically, varying illumination conditions often degrade performance. Existing…