相关论文: Encircling General 2-D Boundaries by Mobile Robots…
In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative measurement between two points on the calibration plate is…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
Certain wheeled mobile robots e.g., electric wheelchairs, can operate through indirect joystick controls from users. Correct steering angle becomes essential when the user should determine the vehicle direction and velocity, in particular…
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…
This paper considers three related mobile robot multi-target sensory coverage and inspection planning problems in 2-D environments. In the first problem, a mobile robot must find the shortest path to observe multiple targets with a limited…
We consider the following variant of the two dimensional gathering problem for swarms of robots: Given a swarm of $n$ indistinguishable, point shaped robots on a two dimensional grid. Initially, the robots form a closed chain on the grid…
An emerging class of trajectory optimization methods enforces collision avoidance by jointly optimizing the robot's configuration and a separating hyperplane. However, as linear separators only apply to convex sets, these methods require…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
Collision avoidance is a widely investigated topic in robotic applications. When applying collision avoidance techniques to a mobile robot, how to deal with the spatial structure of the robot still remains a challenge. In this paper, we…
This work considers a Motion Planning Problem with Dynamic Obstacles (MPDO) in 2D that requires finding a minimum-arrival-time collision-free trajectory for a point robot between its start and goal locations amid dynamic obstacles moving…
We study a generalized motion planning problem involving multiple autonomous robots navigating in a $d$-dimensional Euclidean space in the presence of a set of obstacles whose positions are unknown a priori. Each robot is required to visit…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
This paper presents a novel method for modeling the shape of a continuum robot as a Neural Configuration Euclidean Distance Function (N-CEDF). By learning separate distance fields for each link and combining them through the kinematics…
We consider nonconvex obstacle avoidance where a robot described by nonlinear dynamics and a nonconvex shape has to avoid nonconvex obstacles. Obstacle avoidance is a fundamental problem in robotics and well studied in control. However,…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single…
We propose a novel traffic sign detection system that simultaneously estimates the location and precise boundary of traffic signs using convolutional neural network (CNN). Estimating the precise boundary of traffic signs is important in…
Modern robot navigation systems encounter difficulties in diverse and complex indoor environments. Traditional approaches rely on multiple modules with small models or rule-based systems and thus lack adaptability to new environments. To…
Legged robots have unparalleled mobility on unstructured terrains. However, it remains an open challenge to design locomotion controllers that can operate in a large variety of environments. In this paper, we address this challenge of…