T Marcucci, M Petersen, D von Wrangel, R Tedrake - Science robotics, 2023 - science.org
From quadrotors delivering packages in urban areas to robot arms moving in confined warehouses, motion planning around obstacles is a core challenge in modern robotics …
Uncertain dynamic obstacles, such as pedestrians or vehicles, pose a major challenge for optimal robot navigation with safety guarantees. Previous work on optimal motion planning …
JR Chiu, JP Sleiman, M Mittal… - … on robotics and …, 2022 - ieeexplore.ieee.org
In this paper, we present a real-time whole-body planner for collision-free legged mobile manipulation. We enforce both self-collision and environment-collision avoidance as soft …
J Pankert, M Hutter - IEEE Robotics and Automation Letters, 2020 - ieeexplore.ieee.org
A mobile robot needs to be aware of its environment to interact with it safely. We propose a receding horizon control scheme for mobile manipulators that tracks task space reference …
In the recent past, several sampling-based algorithms have been proposed to compute trajectories that are collision-free and dynamically-feasible. However, the outputs of such …
One of the most difficult challenges in robot motion planning is to account for the behavior of other moving agents, such as humans. Commonly, practitioners employ predictive models to …
An autonomous vehicle intended to carry passengers must be able to generate trajectories on-line that are safe, smooth and comfortable. Here, we propose a strategy for robot …
R Simmons - Proceedings of IEEE international conference on …, 1996 - ieeexplore.ieee.org
We present a new method for local obstacle avoidance by indoor mobile robots that formulates the problem as one of constrained optimization in velocity space. Constraints that …
K Kant, SW Zucker - The Visual Computer, 1988 - Springer
We propose a two-level hierarchy for planning collision-free trajectories in time varying environments. Global geometric algorithms for trajectory planning are used in conjunction …