Concept

Planification de mouvement

Publications associées (245)

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Hybrid Quadratic Programming - Pullback Bundle Dynamical Systems Control

Aude Billard, Bernardo Fichera

Dynamical System (DS)-based closed-loop control is a simple and effective way to generate reactive motion policies that well generalize to the robotic workspace, while retaining stability guarantees. Lately the formalism has been expanded in order to handl ...

SPRINGER INTERNATIONAL PUBLISHING AG2023

Reinforcement learning for scaffold-free construction of spanning-structures

Maryam Kamgarpour, Stefana Parascho, Gabriel Rémi Vallat, Anna Maria Maddux, Jingwen Wang

In construction robotics, a conventional design-to-fabrication work-flow starts with designing a structure, followed by task and robotic motion planning, and ultimately, fabrication. However, this approach can prove unsuccessful, as we may only discover th ...

2023

Inverse Reinforcement Learning of Pedestrian-Robot Coordination

Aude Billard, David Julian Gonon

We apply inverse reinforcement learning (IRL) with a novel cost feature to the problem of robot navigation in human crowds. Consistent with prior empirical work on pedestrian behavior, the feature anticipates collisions between agents. We efficiently learn ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

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While road obstacle detection techniques have become increasingly effective, they typically ignore the fact that, in practice, the apparent size of the obstacles decreases as their distance to the vehicle increases. In this letter, we account for this by c ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2023

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The deployment of robots for Gas Source Lo- calization (GSL) tasks in hazardous scenarios significantly reduces the risk to humans and animals. Gas sensing using mobile robots focuses primarily on simplified scenarios, due to the complexity of gas dispersi ...

2023

Avian-Inspired Claws Enable Robot Perching or Walking

Dario Floreano, Won Dong Shin, Mohammad Askari

Multimodal unmanned aerial vehicles (UAVs) are rarely capable of more than two modalities, i.e., flying and walking or flying and perching. However, being able to fly, perch, and walk could further improve their usefulness by expanding their operating enve ...

2023

Sensorless force and displacement estimation in soft actuators

Jamie Paik, Sagar Dattatray Joshi

Sensing forms an integral part of soft matter based robots due to their compliance, dependence on loading conditions, and virtually infinite degrees of freedom. Previous studies have developed several extrinsic sensors and embedded them into soft actuators ...

ROYAL SOC CHEMISTRY2023

Robots' Motion Planning in Human Crowds by Acceleration Obstacles

Aude Billard, Diego Felipe Paez Granados, David Julian Gonon

We study the Acceleration Obstacle (AO) as a concept to enable a robot's navigation in human crowds. The AO's geometric properties are analyzed and a direct sampling-free algorithm is proposed to approximate its boundary by linear constraints. The resultin ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2022

Navigation of Concentric Tube Continuum Robots using Optimal Control

John Maddocks, Siva Prasad Chakri Dhanakoti

Recently developed Concentric Tube Continuum Robots (CTCRs) are widely exploited in, for example in minimally invasive surgeries which involve navigating inside narrow body cavities close to sensitive regions. These CTCRs can be controlled by extending and ...

SCITEPRESS2022

Safe Motion Planning against Multimodal Distributions Based on a Scenario Approach

Maryam Kamgarpour

We present the design of a motion planning algorithm that ensures safety for an autonomous vehicle. In particular, we consider a multimodal distribution over uncertainties; for example, the uncertain predictions of future trajectories of surrounding vehicl ...

2022