Concept
Motion planning
Related publications (245)
Dynamic Voxels Based on Ego-Conditioned Prediction: An Integrated Spatio-Temporal Framework for Motion Planning
Alexandre Massoud Alahi, Ting Zhang
Prediction is a vital component of motion planning for autonomous vehicles (AVs). By reasoning about the possible behavior of other target agents, the ego vehicle (EV) can navigate safely, efficiently, and politely. However, most of the existing work overl ...
Ieee-Inst Electrical Electronics Engineers Inc2024An Optimal Control Formulation of Tool Affordance Applied to Impact Tasks
Humans use tools to complete impact-aware tasks, such as hammering a nail or playing tennis. The postures adopted to use these tools can significantly influence the performance of these tasks, where the force or velocity of the hand holding a tool plays a ...
Ieee-Inst Electrical Electronics Engineers Inc2024Sense in Motion with Belief Clustering: Efficient Gas Source Localization with Mobile Robots
Alcherio Martinoli, Wanting Jin
Given the patchy nature of gas plumes and the slow response of conventional gas sensors, the use of mobile robots for Gas Source Localization (GSL) tasks presents significant challenges. These aspects increase the difficulties in obtaining gas measurement ...
2024Robot Learning using Tensor Networks
In various robotics applications, the selection of function approximation methods greatly influences the feasibility and computational efficiency of algorithms. Tensor Networks (TNs), also referred to as tensor decomposition techniques, present a versatile ...
EPFL2024Gas Sensing with Rotary-Wing Nano Aerial Vehicles
Harmful chemical compounds are released daily in warehouses, chemical plants and during environmental emergencies. Their uncontrolled dispersion contributes to the pollution of the atmosphere and threatens human and animal lives.When gas leaks occur, their ...
EPFL2024Hitting with Different Joints of a Robotic Manipulator
This paper builds up the skill of impact aware non prehensile manipulation through a hitting motion by allowing the robot arm to come in contact with the environment with parts other than its end effector. Hitting with other joints allows us to manipulate ...
2024Learning to make mixed-integer robot motion planning easy
Robot motion planning involves finding a feasible path for a robot to follow while satisfying a set of constraints and optimizing an objective function. This problem is critical for enabling robots to navigate and perform tasks in realworld environments. H ...
2023Certification of Bottleneck Task Assignment With Shortest Path Criteria
Maryam Kamgarpour, Tony Alan Wood
Minimising the longest travel distance for a group of mobile robots with interchangeable goals requires knowledge of the shortest length paths between all robots and goal destinations. Determining the exact length of the shortest paths in an environment wi ...
2023Motion Planning and Inertia Based Control for Impact Aware Manipulation
In this paper, we propose a metric called hitting flux which is used in the motion generation and controls for a robot manipulator to interact with the environment through a hitting or a striking motion. Given the task of placing a known object outside of ...
2023Geometric and Learning Methods for Robots to Navigate in Human Crowds with Application to Smart Mobility Devices
The thesis at hand is concerned with robots' navigation in human crowds. Specifically, methods are developed for planning a mobile robot's local motion between pedestrians, and they are evaluated in experiments where a robot interacts with real pedestrians ...
EPFL2023