相关论文: Instabilities of Robot Motion

Adversarial examples resulting from instability of current computer vision models are an extremely important topic due to their potential to compromise any application. In this paper we demonstrate that instability is inevitable due to a)…

Motion planners take uncertain information about the environment as an input. The environment information is often quite noisy and has a tendency to contain false positive object detection. State-of-the-art motion planners consider all…

Planning motions to grasp an object in cluttered and uncertain environments is a challenging task, particularly when a collision-free trajectory does not exist and objects obstructing the way are required to be carefully grasped and moved…

Task And Motion Planning (TAMP) is the problem of finding a solution to an automated planning problem that includes discrete actions executable by low-level continuous motions. This field is gaining increasing interest within the robotics…

This paper presents a formal and comprehensive reasoning framework for robot motion risk, with a focus on locomotion in challenging unstructured or confined environments. Risk which locomoting robots face in physical spaces was not formally…

This paper presents a distributed method for robots moving in rigid formations while ensuring probabilistic collision avoidance between the robots. The formation is parametrised through the transformation of a base configuration. The robots…

Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based…

Let X be a subcomplex of the standard CW-decomposition of the n-dimensional torus. We exhibit an explicit optimal motion planning algorithm for X. This construction is used to calculate the topological complexity of complements of general…

It has been observed that the very important motion planning problem of robotics mathematically speaking boils down to the problem of finding a section to the path-space fibration, raising the notion of topological complexity, as introduced…

We consider the unlabeled motion-planning problem of $m$ unit-disc robots moving in a simple polygonal workspace of $n$ edges. The goal is to find a motion plan that moves the robots to a given set of $m$ target positions. For the unlabeled…

A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot…

In the pattern formation problem, robots in a system must self-coordinate to form a given pattern, regardless of translation, rotation, uniform-scaling, and/or reflection. In other words, a valid final configuration of the system is a…

Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning problems, while variable payloads and disturbances present…

Sampling-based motion planning algorithms have been continuously developed for more than two decades. Apart from mobile robots, they are also widely used in manipulator motion planning. Hence, these methods play a key role in collaborative…

The functional demands of robotic systems often require completing various tasks or behaviors under the effect of disturbances or uncertain environments. Of increasing interest is the autonomy for dynamic robots, such as multirotors, motor…

The paper develops the stiffness relationship between the movements and forces among a system of discrete interacting grains. The approach is similar to that used in structural analysis, but the stiffness matrix of granular material is…

This paper proposes a robust lattice-based motion-planning algorithm for nonlinear systems affected by a bounded disturbance. The proposed motion planner utilizes the nominal disturbance-free system model to generate motion primitives,…

In this paper, we approach the challenging problem of motion planning for knot tying. We propose a hierarchical approach in which the top layer produces a topological plan and the bottom layer translates this plan into continuous robot…

Trajectory optimization offers mature tools for motion planning in high-dimensional spaces under dynamic constraints. However, when facing complex configuration spaces, cluttered with obstacles, roboticists typically fall back to…

In this paper, we develop the theory of constrained motion spaces of robotic arms. We compute their homology groups in two cases: when the constraint is a horizontal line and when it is a smooth curve whose motion space is a smooth…