相关论文: Socially Acceptable Bipedal Robot Navigation via S…
Better machine understanding of pedestrian behaviors enables faster progress in modeling interactions between agents such as autonomous vehicles and humans. Pedestrian trajectories are not only influenced by the pedestrian itself but also…
Social navigation is the capability of an autonomous agent, such as a robot, to navigate in a 'socially compliant' manner in the presence of other intelligent agents such as humans. With the emergence of autonomously navigating mobile…
In the realm of stochastic human motion prediction (SHMP), researchers have often turned to generative models like GANS, VAEs and diffusion models. However, most previous approaches have struggled to accurately predict motions that are both…
Grasping in dynamic environments presents a unique set of challenges. A stable and reachable grasp can become unreachable and unstable as the target object moves, motion planning needs to be adaptive and in real time, the delay in…
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to its interactions with the environment and other pedestrians.…
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we present a task and motion planning framework for search and…
Hybrid zonotopes generalize constrained zonotopes by introducing additional binary variables and possess some unique properties that make them convenient to represent nonconvex sets. This paper presents novel hybrid zonotope-based methods…
The Synthetic Nervous System (SNS) is a biologically inspired neural network (NN). Due to its capability of capturing complex mechanisms underlying neural computation, an SNS model is a candidate for building compact and interpretable NN…
Urban environments pose a significant challenge for autonomous vehicles (AVs) as they must safely navigate while in close proximity to many pedestrians. It is crucial for the AV to correctly understand and predict the future trajectories of…
Biped robots are inherently unstable because of their complex kinematics as well as dynamics. Despite the many research efforts in developing biped locomotion, the performance of biped locomotion is still far from the expectations. This…
Autonomous transportation systems such as road vehicles or vessels require the consideration of the static and dynamic environment to dislocate without collision. Anticipating the behavior of an agent in a given situation is required to…
For autonomous robots navigating in urban environments, it is important for the robot to stay on the designated path of travel (i.e., the footpath), and avoid areas such as grass and garden beds, for safety and social conformity…
Brain-computer Interface (BCI) applications based on steady-state visual evoked potentials (SSVEP) have the advantages of being fast, accurate and mobile. SSVEP is the EEG response evoked by visual stimuli that are presented at a specific…
Humans are well-adept at navigating public spaces shared with others, where current autonomous mobile robots still struggle: while safely and efficiently reaching their goals, humans communicate their intentions and conform to unwritten…
In this paper, we present a data-driven framework for real-time estimation of reachable sets for control systems where the plant is modeled using neural networks (NNs). We utilize a running example of a quadrotor model that is learned using…
Towards human-robot coexistence, socially aware navigation is significant for mobile robots. Yet existing studies on this area focus mainly on path efficiency and pedestrian collision avoidance, which are essential but represent only a…
Developing robust locomotion for humanoid robots is a complex task due to the unstable nature of these robots and also to the unpredictability of the terrain. A robust locomotion planner is one of the fundamental components for generating…
Dynamic locomotion in rough terrain requires accurate foot placement, collision avoidance, and planning of the underactuated dynamics of the system. Reliably optimizing for such motions and interactions in the presence of imperfect and…
Trajectory prediction is fundamental to various intelligent technologies, such as autonomous driving and robotics. The motion prediction of pedestrians and vehicles helps emergency braking, reduces collisions, and improves traffic safety.…
Navigating a large-scaled robot in unknown and cluttered height-constrained environments is challenging. Not only is a fast and reliable planning algorithm required to go around obstacles, the robot should also be able to change its…