相关论文: COLREGs Compliant Collision Avoidance and Groundin…
Applying intelligent robot arms in dynamic uncertain environments (i.e., flexible production lines) remains challenging, which requires efficient algorithms for real time trajectory generation. The motion planning problem for robot…
This paper addresses the challenge of accommodating nonlinear dynamics and constraints in rapid trajectory optimization, envisioned for use in the context of onboard guidance. We present a novel framework that uniquely employs…
Automation of berthing maneuvers in shipping is a pressing issue as the berthing maneuver is one of the most stressful tasks seafarers undertake. Berthing control problems are often tackled via tracking a predefined trajectory or path.…
Efficient, collision-free motion planning is essential for automating large-scale manipulators like timber cranes. They come with unique challenges such as hydraulic actuation constraints and passive joints-factors that are seldom addressed…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel…
This paper proposes an uncertainty-aware marine pollution source tracking framework for unmanned surface vehicles (USVs). By integrating high-fidelity marine pollution dispersion simulation with informative path planning techniques, we…
We present CCO-VOXEL: the very first chance-constrained optimization (CCO) algorithm that can compute trajectory plans with probabilistic safety guarantees in real-time directly on the voxel-grid representation of the world. CCO-VOXEL maps…
Developing feasible body trajectories for legged systems on arbitrary terrains is a challenging task. In this paper, we present a paradigm that allows to design feasible Center of Mass (CoM) and body trajectories in an efficient manner. In…
The capability to navigate safely in an unstructured environment is crucial when deploying robotic systems in real-world scenarios. Recently, control barrier function (CBF) based approaches have been highly effective in synthesizing…
Multi-robot navigation in complex environments relies on inter-robot communication and mutual observations for coordination and situational awareness. This paper studies the multi-robot navigation problem in unknown environments with…
This paper addresses the challenge of human-guided navigation for mobile collaborative robots under simultaneous proximity regulation and safety constraints. We introduce Adaptive Reinforcement and Model Predictive Control Switching (ARMS),…
A simple and reliable algorithm for collision avoidance maneuvers (CAMs), capable of computing impulsive, multi-impulsive, and low-thrust maneuvers, is proposed. The probability of collision (PoC) is approximated by a polynomial of…
Safe motion planning algorithms are necessary for deploying autonomous robots in unstructured environments. Motion plans must be safe to ensure that the robot does not harm humans or damage any nearby objects. Generating these motion plans…
This paper addresses security challenges in multi-robot systems (MRS) where adversaries may compromise robot control, risking unauthorized access to forbidden areas. We propose a novel multi-robot optimal planning algorithm that integrates…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
Automated driving on ramps presents significant challenges due to the need to balance both safety and efficiency during lane changes. This paper proposes an integrated planner for automated vehicles (AVs) on ramps, utilizing an…
This paper presents an integrated navigation framework for Autonomous Mobile Robots (AMRs) that unifies environment representation, trajectory generation, and Model Predictive Control (MPC). The proposed approach incorporates a…
Optimal mass transport, also known as the earth mover's problem, is an optimization problem with important applications in various disciplines, including economics, probability theory, fluid dynamics, cosmology and geophysics to cite a few.…