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High-precision navigation and positioning systems are critical for applications in autonomous vehicles and mobile mapping, where robust and continuous localization is essential. To test and enhance the performance of algorithms, some…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
This letter presents a closed-form solution of Control Barrier Function (CBF) framework for enforcing safety constraints on a Stewart robotic platform. The proposed method simultaneously handles multiple position and velocity constraints…
Multi-robot decision-making is the process where multiple robots coordinate actions. In this paper, we aim for efficient and effective multi-robot decision-making despite the robots' limited on-board resources and the often…
Safe and efficient navigation in crowded environments remains a critical challenge for robots that provide a variety of service tasks such as food delivery or autonomous wheelchair mobility. Classical robot crowd navigation methods decouple…
Mobile robotics is a research area that has witnessed incredible advances for the last decades. Robot navigation is an essential task for mobile robots. Many methods are proposed for allowing robots to navigate within different…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Applications that require multi-robot systems to operate independently for extended periods of time in unknown or unstructured environments face a broad set of challenges, such as hardware degradation, changing weather patterns, or…
Many approaches to multi-robot coordination are susceptible to failure due to communication loss and uncertainty in estimation. We present a real-time communication-free distributed navigation algorithm certified by control barrier…
Circumnavigation control is useful in real-world applications such as entrapping a hostile target. In this paper, we consider a heterogeneous multi-robot system where robots have different physical properties, such as maximum movement…
Control Lyapunov Functions (CLFs) and Control Barrier Functions (CBFs) can be combined, typically by means of Quadratic Programs (QPs), to design controllers that achieve performance and safety objectives. However, a significant limitation…
Many robotic tasks require high-dimensional sensors such as cameras and Lidar to navigate complex environments, but developing certifiably safe feedback controllers around these sensors remains a challenging open problem, particularly when…
Safety-critical whole-body robot control demands reactive methods that ensure collision avoidance in real-time. Complementarity constraints and control barrier functions (CBF) have emerged as core tools for ensuring such safety constraints,…
This paper presents a novel hierarchical, safety-critical control framework that integrates distributed nonlinear model predictive controllers (DNMPCs) with control barrier functions (CBFs) to enable cooperative locomotion of multi-agent…
Recent advances allow for the automation of food preparation in high-throughput environments, yet the successful deployment of these robots requires the planning and execution of quick, robust, and ultimately collision-free behaviors. In…
Robot deployment in realistic dynamic environments is a challenging problem despite the fact that robots can be quite skilled at a large number of isolated tasks. One reason for this is that robots are rarely equipped with powerful…
Tracking multiple targets in dynamic environments using distributed sensor networks is a challenging problem for situational awareness in connected autonomous vehicles (CAVs). In such scenarios, the network of mobile sensors must coordinate…
This work addresses the challenge of safe and efficient mobile robot navigation in complex dynamic environments with concave moving obstacles. Reactive safe controllers like Control Barrier Functions (CBFs) design obstacle avoidance…
The problem of dynamic locomotion over rough terrain requires both accurate foot placement together with an emphasis on dynamic stability. Existing approaches to this problem prioritize immediate safe foot placement over longer term dynamic…