相关论文: Stream Function-Based Navigation for Complex Quadc…
This paper proposes a LiDAR-based goal-seeking and exploration framework, addressing the efficiency of online obstacle avoidance in unstructured environments populated with static and moving obstacles. This framework addresses two…
Obstacle avoidance is a critical component of the navigation stack required for mobile robots to operate effectively in complex and unknown environments. In this research, three end-to-end Convolutional Neural Networks (CNNs) were trained…
Instantaneous features of three-dimensional velocity fields are most directly visualized via streamsurfaces. It is generally unclear, however, which streamsurfaces one should pick for this purpose, given that infinitely many such surfaces…
Differential flatness has been used to provide diffeomorphic transformations for non-linear dynamics to become a linear controllable system. This greatly simplifies the control synthesis since in the flat output space, the dynamics appear…
Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional…
In this paper, we focus on non-conservative collision avoidance between robots and obstacles with control affine dynamics and convex shapes. System safety is defined using the minimum distance between the safe regions associated with robots…
This work presents a robust and efficient sharp interface immersed boundary (IBM) framework, which is applicable for all-speed flow regimes and is capable of handling arbitrarily complex bodies (stationary or moving). The work deploys an…
Visual inertial odometry (VIO) is widely used for the state estimation of multicopters, but it may function poorly in environments with few visual features or in overly aggressive flights. In this work, we propose a perception-aware…
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…
Safety critical control of robotic manipulation tasks involving deformable media such as fluids, cloth, and soft objects remains challenging because existing learning based approaches encode safety indirectly through reward shaping, which…
This paper presents a novel method for reformulating non-differentiable collision avoidance constraints into smooth nonlinear constraints using strong duality of convex optimization. We focus on a controlled object whose goal is to avoid…
Optical flow computation with frame-based cameras provides high accuracy but the speed is limited either by the model size of the algorithm or by the frame rate of the camera. This makes it inadequate for high-speed applications. Event…
Modeling the mechanics of fluid in complex scenes is vital to applications in design, graphics, and robotics. Learning-based methods provide fast and differentiable fluid simulators, however most prior work is unable to accurately model how…
Detecting water-surface targets for Unmanned Surface Vehicles (USVs) is challenging due to wave clutter, specular reflections, and weak appearance cues in long-range observations. Although 4D millimeter-wave radar complements cameras under…
Autonomous navigation in unknown environments with obstacles remains challenging for micro aerial vehicles (MAVs) due to their limited onboard computing and sensing resources. Although various collision avoidance methods have been…
A path-following collision-avoidance model predictive control (MPC) method is proposed which approximates obstacle shapes as convex polygons. Collision-avoidance is ensured by means of the signed distance function which is calculated…
Safe operation is essential for deploying robots in human-centered 3D environments. Soft continuum manipulators provide passive safety through mechanical compliance, but still require active control to achieve reliable collision avoidance.…
An advanced Volume of Fluid (VOF) method is presented that enables performant three-dimensional Direct Numerical Simulations (DNS) of the interaction of two immiscible fluids in a gaseous environment with large topology changes, e.g.,…
Robots operating in dynamic, unstructured environments must balance safety and efficiency under potentially limited sensing. While control barrier functions (CBFs) provide principled collision avoidance via safety filtering, their behavior…
Navigation functions provide both path and motion planning, which can be used to ensure obstacle avoidance and convergence in the sphere world. When dealing with complex and realistic scenarios, constructing a transformation to the sphere…