相关论文: Verified Task-Space Motion Planning Under Joint-Sp…
A common task in robotics is unloading identical goods from a tray with rectangular grid structure. This naturally leads to the idea of programming the process at one grid position only and translating the motion to the other grid points,…
Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are…
Learning motion planners to move robot from one point to another within an obstacle-occupied space in a collision-free manner requires either an extensive amount of data or high-quality demonstrations. This requirement is caused by the fact…
We present a scalable and effective multi-agent safe motion planner that enables a group of agents to move to their desired locations while avoiding collisions with obstacles and other agents, with the presence of rich obstacles,…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
In this paper, we present a task space-based local motion planner that incorporates collision avoidance and constraints on end-effector motion during the execution of a task. Our key technical contribution is the development of a novel…
A computerized workflow management system may enforce a security policy, specified in terms of authorized actions and constraints, thereby restricting which users can perform particular steps in a workflow. The existence of a security…
This methodology paper addresses high-performance high-productivity programming on spatial architectures. Spatial architectures are efficient for executing dataflow algorithms, yet for high-performance programming, the productivity is low…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…
This paper studies, for the first time, the trajectory planning problem in adversarial environments, where the objective is to design the trajectory of a robot to reach a desired final state despite the unknown and arbitrary action of an…
This paper proposes a novel approach to formulate time-optimal point-to-point motion planning and control under uncertainty. The approach defines a robustified two-stage Optimal Control Problem (OCP), in which stage 1, with a fixed time…
The kinematic approximation of Dubin's Vehicle has been largely exploited in the formulation of various motion planning methods. In the majority of these methods, planning and control phases are decoupled, and the burden of rejecting…
Reactive control is often considered insufficient for multi-objective tasks because conflicting objectives give rise to local minima. We argue this limitation is not inherent but arises from static encodings that fail to reflect how…
This study proposes an integrated task and motion planning method for dynamic locomotion in partially observable environments with multi-level safety guarantees. This layered planning framework is composed of a high-level symbolic task…
In this paper, we present a computational approach to certify almost sure reachability for discrete-time polynomial stochastic systems by turning drift--variant criteria into sum-of-squares (SOS) programs solved with standard semidefinite…
We introduce and study the Joint Task Assistance Planning problem which generalizes prior work on optimizing assistance in robotic collaboration. In this setting, two robots operate over predefined roadmaps, each represented as a graph…
UAVs equipped with a single depth camera encounter significant challenges in dynamic obstacle avoidance due to limited field of view and inevitable blind spots. While active vision strategies that steer onboard cameras have been proposed to…
In this work, we present an approach to minimizing the time necessary for the end-effector of a redundant robot manipulator to traverse a Cartesian path by optimizing the trajectory of its joints. Each joint has limits in the ranges of…
Hamilton-Jacobi (HJ) reachability provides formal safety guarantees for dynamical systems, but solving high-dimensional HJ partial differential equations limits its use in real-time planning. This paper presents a contingency-aware…