相关论文: Collision Avoidance Safety Filter for an Autonomou…

This article presents an eco-driving algorithm for electric vehicles featuring multi-speed transmissions. The proposed controller is formulated as a co-optimization problem, simultaneously optimizing both vehicle longitudinal speed and…

This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…

This paper concerns the estimation problem of attitude, position, and linear velocity of a rigid-body autonomously navigating with six degrees of freedom (6 DoF). The navigation dynamics are highly nonlinear and are modeled on the matrix…

This work explores a collaborative method for ensuring safety in multi-agent formation control problems. We formulate a control barrier function (CBF) based safety filter control law for a generic distributed formation controller and extend…

In this paper, we focus on non-conservative collision avoidance between robots and obstacles with control affine dynamics and convex shapes. System safety is defined using the minimum distance between the safe regions associated with robots…

Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…

We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments containing obstacles, with arbitrary non-convex shapes, which can be in close proximity with each other, as long as there exists at least…

Obstacle avoidance enables autonomous agents and robots to operate safely and efficiently in dynamic and complex environments, reducing the risk of collisions and damage. For a robot or autonomous system to successfully navigate through…

This study proposes novel control methods that lower impact force by preemptive movement and smoothly transition to conventional contact impedance control. These suggested techniques are for force control-based robots and position/velocity…

Nano-size drones hold enormous potential to explore unknown and complex environments. Their small size makes them agile and safe for operation close to humans and allows them to navigate through narrow spaces. However, their tiny size and…

We study how to safely control nonlinear control-affine systems that are corrupted with bounded non-stochastic noise, i.e., noise that is unknown a priori and that is not necessarily governed by a stochastic model. We focus on safety…

This paper considers how to ensure that a system of fixed wing Unmanned Aerial Vehicles (UAVs) can avoid collisions. To do so we develop a novel method for creating a barrier function, which is similar to a Lyapunov function and can be used…

We seek to rigorously evaluate the benefit of using a few beams rather than a single beam for a low-cost obstacle avoidance sonar for small AUVs. For a small low-cost AUV, the complexity, cost, and volume required for a multi-beam forward…

Electromechanical switching devices, such as solenoid valves, contactors, and relays, suffer from undesirable phenomena like clicking, mechanical wear, and contact bounce. Despite that, they are still widely used in industry due to their…

Collision avoidance is a key factor in enabling the integration of unmanned aerial vehicle into real life use, whether it is in military or civil application. For a long time there have been a large number of works to address this problem;…

Soft robots can safely interact with environments because of their mechanical compliance. Self-collision is also employed in the modern design of soft robots to enhance their performance during different tasks. However, developing an…

Human trajectory forecasting is crucial in applications such as autonomous driving, robotics and surveillance. Accurate forecasting requires models to consider various factors, including social interactions, multi-modal predictions,…

In this paper, we provide a theoretical framework for the coordination of connected and automated vehicles (CAVs) at signal-free intersections, accounting for the unexpected presence of pedestrians. First, we introduce a general…

Interest in unmanned aerial system (UAS) powered solutions for 6G communication networks has grown immensely with the widespread availability of machine learning based autonomy modules and embedded graphical processing units (GPUs). While…

The ability to live without being controlled by any action, judgment and any outside factors including any opinions and regulations is defined by the term Independent. But in reality physical movement for travelling or simply walking…