相关论文: Collision-Free Navigation of Mobile Robots via Qua…
In real-world applications of mobile robots, collision avoidance is of critical importance. Typically, global motion planning in constrained environments is addressed through high-level control schemes. However, additionally integrating…
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…
Online generation of collision free trajectories is of prime importance for autonomous navigation. Dynamic environments, robot motion and sensing uncertainties adds further challenges to collision avoidance systems. This paper presents an…
Free-space-oriented roadmaps typically generate a series of convex geometric primitives, which constitute the safe region for motion planning. However, a static environment is assumed for this kind of roadmap. This assumption makes it…
This paper presents a scalable multi-robot motion planning algorithm called Conflict-Based Model Predictive Control (CB-MPC). Inspired by Conflict-Based Search (CBS), the planner leverages a similar high-level conflict tree to efficiently…
This work introduces a formulation of model predictive control (MPC) which adaptively reasons about the complexity of the model based on the task while maintaining feasibility and stability guarantees. Existing MPC implementations often…
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot…
This work presents a novel data-driven multi-layered planning and control framework for the safe navigation of a class of unmanned ground vehicles (UGVs) in the presence of unknown stationary obstacles and additive modeling uncertainties.…
Robots will increasingly operate near humans that introduce uncertainties in the motion planning problem due to their complex nature. Typically, chance constraints are introduced in the planner to optimize performance while guaranteeing…
This paper addresses the problem of coordination of a fleet of mobile robots - the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introduced during the last…
This paper presents a novel Nonlinear Model Predictive Control (NMPC) scheme for underwater robotic vehicles operating in a constrained workspace including static obstacles. The purpose of the controller is to guide the vehicle towards…
We present a novel learning-based trajectory generation algorithm for outdoor robot navigation. Our goal is to compute collision-free paths that also satisfy the environment-specific traversability constraints. Our approach is designed for…
This paper addresses the trajectory planning problem for automated vehicle on-ramp highway merging. To tackle this challenge, we extend our previous work on trajectory planning at unsignalized intersections using Partially Observable Markov…
The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…
Quadrotor flight is an extremely challenging problem due to the limited control authority encountered at the limit of handling. Model Predictive Contouring Control (MPCC) has emerged as a promising model-based approach for time optimization…
In this article, we consider the problem of trajectory planning and control for on-road driving of an autonomous ground vehicle (AGV) in presence of static or moving obstacles. We propose a systematic approach to partition the…
This article proposes an approach for collision avoidance, path following, and anti-grounding of autonomous surface vessels under consideration of environmental forces based on Nonlinear Model Predictive Control (NMPC). Artificial Potential…
The need for fully autonomous mobile robots has surged over the past decade, with the imperative of ensuring safe navigation in a dynamic setting emerging as a primary challenge impeding advancements in this domain. In this paper, a Safety…
Robots will bring search and rescue (SaR) in disaster response to another level, in case they can autonomously take over dangerous SaR tasks from humans. A main challenge for autonomous SaR robots is to safely navigate in cluttered…
Fluidically actuated soft robots have promising capabilities such as inherent compliance and user safety. The control of soft robots needs to properly handle nonlinear actuation dynamics, motion constraints, workspace limitations, and…