相关论文: Real Time Collision Avoidance with GPU-Computed Di…
This article addresses the obstacle avoidance problem for setpoint stabilization and path-following tasks in complex dynamic 2D environments that go beyond conventional scenes with isolated convex obstacles. A combined motion planner and…
Real-time interception of fast-moving objects by robotic arms in dynamic environments poses a formidable challenge due to the need for rapid reaction times, often within milliseconds, amidst dynamic obstacles. This paper introduces a…
In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…
This paper tackles the distributed leader-follower (L-F) control problem for heterogeneous mobile robots in unknown environments requiring obstacle avoidance, inter-robot collision avoidance, and reliable robot communications. To prevent an…
Collision-free mobile robot navigation is an important problem for many robotics applications, especially in cluttered environments. In such environments, obstacles can be static or dynamic. Dynamic obstacles can additionally be…
Predictive energy management of Connected and Automated Vehicles (CAVs), in particular those with multiple power sources, has the potential to significantly improve energy savings in real-world driving conditions. In particular, the…
In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…
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…
Impact-aware robotic manipulation benefits from an accurate map from ante-impact to post-impact velocity signals to support, e.g., motion planning and control. This work proposes an approach to generate and experimentally validate such…
We present a novel algorithm for reciprocal collision avoidance between heterogeneous agents of different shapes and sizes. We present a novel CTMAT representation based on medial axis transform to compute a tight fitting bounding shape for…
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. However, how to shape the sensor's properties, such as sensing…
Path planning for multiple robots is well studied in the AI and robotics communities. For a given discretized environment, robots need to find collision-free paths to a set of specified goal locations. Robots can be fully anonymous,…
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function…
For autonomous mobile robots, uncertainties in the environment and system model can lead to failure in the motion planning pipeline, resulting in potential collisions. In order to achieve a high level of robust autonomy, these robots should…
Collision avoidance algorithms are essential for safe and efficient robot operation among pedestrians. This work proposes using deep reinforcement (RL) learning as a framework to model the complex interactions and cooperation with nearby,…
Drifting, characterized by controlled vehicle motion at high sideslip angles, is crucial for safely handling emergency scenarios at the friction limits. While recent reinforcement learning approaches show promise for drifting control, they…
In this paper we address the problem of path planning in an unknown environment with an aerial robot. The main goal is to safely follow the planned trajectory by avoiding obstacles. The proposed approach is suitable for aerial vehicles…
In this paper, we present an implementation of 3-D reciprocal collision avoidance on real quadrotor helicopters where each quadrotor senses the relative position and velocity of other quadrotors using an on-board camera. We show that using…
In crowded urban environments where traffic is dense, current technologies struggle to oversee tight navigation, but surface-level understanding allows autonomous vehicles to safely assess proximity to surrounding obstacles. 3D or 2D scene…
Obstacle avoidance is one of the essential and indispensable functions for autonomous mobile robots. Most of the existing solutions are typically based on single condition constraint and cannot incorporate sensor data in a real-time manner,…