We address the problem of synthesizing a controller for nonlinear systems with reach-avoid
requirements. Our controller consists of a reference controller and a tracking controller which …

This paper proposes a global path planning (GPP) system based on building information
modeling (BIM) and physics engine for unmanned ground vehicles (UGVs) operations in …

The paper presents a fast online predictive method to solve the task-priority differential
inverse kinematics of redundant manipulators under kinematic constraints. It implements a …

Strategies for safe human-robot interaction (HRI), such as the well-established Safe Motion
Unit, provide a velocity scaling for biomechanically safe robot motion. In addition …

Landing on a moving platform is an essential requirement to achieve high-performance
autonomous flight with various vehicles, including quadrotors. We propose an efficient and …

A hierarchical control approach for cooperative pick-and-place tasks in a narrow shared
workspace is proposed. A scenario with two robot arms performing pick-and-place tasks with …

In order to perform safe and natural interactions with humans, robots are required to adjust
their motions quickly according to human behaviors. Performing the complex calculation and …

The problem of planning a trajectory for robots starting in an initial state and reaching a final
state in a desired interval of time is tackled. We propose an approach based on model …

We present a model predictive control (MPC) algorithm for online time-optimal trajectory
planning of cooperative robotic manipulators. Robotic arms sharing a common confined …

A flexible operation of multiple robotic manipulators operating in a dynamic environment
requires online trajectory planning to ensure collision-free trajectories. In this work, we …