相关论文: Risk-aware Integrated Task and Motion Planning for…

This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…

Safe path and gait planning are essential for bipedal robots to navigate complex real-world environments. The prevailing approaches often plan the path and gait separately in a hierarchical fashion, potentially resulting in unsafe movements…

Safe navigation with simultaneous localization and mapping (SLAM) for autonomous robots is crucial in challenging environments. To achieve this goal, detecting moving objects in the surroundings and building a static map are essential.…

We present UbiSLAM, an innovative solution for real-time mapping and localization in dynamic indoor environments. By deploying a network of fixed RGB-D cameras strategically throughout the workspace, UbiSLAM addresses limitations commonly…

In contrast to quadruped robots that can navigate diverse terrains using a "blind" policy, humanoid robots require accurate perception for stable locomotion due to their high degrees of freedom and inherently unstable morphology. However,…

In this paper, we investigate the problem of planning an optimal infinite path for a single robot to achieve a linear temporal logic (LTL) task with security guarantee. We assume that the external behavior of the robot, specified by an…

(Simplified Abstract) To accomplish breakthroughs in dynamic whole-body locomotion, legged robots have to be terrain aware. Terrain-Aware Locomotion (TAL) implies that the robot can perceive the terrain with its sensors, and can take…

This paper presents Latent Sampling-based Motion Planning (L-SBMP), a methodology towards computing motion plans for complex robotic systems by learning a plannable latent representation. Recent works in control of robotic systems have…

Motion planning under dynamics constraints, i.e, kinodynamic planning, enables safe robot operation by generating dynamically feasible trajectories that the robot can accurately track. For high-DOF robots such as manipulators,…

We present a Sequential Mobile Manipulation Planning (SMMP) framework that can solve long-horizon multi-step mobile manipulation tasks with coordinated whole-body motion, even when interacting with articulated objects. By abstracting…

We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…

Our work introduces a module for assessing the trajectory safety of autonomous vehicles in dynamic environments marked by high uncertainty. We focus on occluded areas and occluded traffic participants with limited information about…

Where am I? This is one of the most critical questions that any intelligent system should answer to decide whether it navigates to a previously visited area. This problem has long been acknowledged for its challenging nature in simultaneous…

This work addresses the problem of motion planning for a group of nonholonomic robots under Visible Light Communication (VLC) connectivity requirements. In particular, we consider an inspection task performed by a Robot Chain Control System…

Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…

Motion planning trajectories for a multi-limbed robot to climb up walls requires a unique combination of constraints on torque, contact force, and posture. This paper focuses on motion planning for one particular setup wherein a six-legged…

The evolving field of mobile robotics has indeed increased the demand for simultaneous localization and mapping (SLAM) systems. To augment the localization accuracy and mapping efficacy of SLAM, we refined the core module of the SLAM…

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…

In robot-assisted minimally invasive surgery (RMIS), inverse kinematics (IK) must satisfy a remote center of motion (RCM) constraint to prevent tissue damage at the incision point. However, most of existing IK methods do not account for the…

Previous imitation learning policies predict future actions at every control step, whether in smooth motion phases or precise, contact-rich operation phases. This uniform treatment is wasteful: most steps in a manipulation trajectory…