7 accepted papers
This paper proposes a genetic algorithm-based kinodynamic planning algorithm (GAKD) for car-like vehicles navigating uneven terrains modeled as triangular meshes. The algorithm's distinct feature is trajectory optimization over a receding horizon of fixed length using a genetic algorithm with heuris
The goal of this paper is to develop a continuous optimization-based refinement of the reference trajectory to ‘push it out’ of the obstacle-occupied space in the global phase for Multi-rotor Aerial Vehicles in unknown environments. Our proposed approach comprises two planners: a global planner and
The work focuses on accuracy of the identification procedure allowing to estimate the force and its application point in human-robot physical interaction. It is assumed that the desired parameters are estimated using data obtained from internal torque sensors embedded in the robot joints as well as
In this work, we present a new exploration algorithm for Micro Aerial Vehicles (MAVs). The planner uses a combination of Next-Best-View (NBV) sampling and frontier-based approaches to reduce the impact of finding unexplored areas in large scenarios. For each sampled point, the yaw angle is optimized…
The goal of this work is to propose a way of dealing with physical interactions for collaborative robots that will ensure the safety of a human operator and improve the performance of a common task by implementing multiple robot behavior scenarios. In this scope, all collisions of a robotic arm are…
In this work, we propose a contact point localization and external force estimation algorithm for collaborative robots. In comparison with existing approaches, the proposed algorithm can detect and evaluate multiple solutions and more than 3x faster without loss of accuracy. To achieve real-time per
The paper presents an approach for interactive programming of the robotic manipulator using mixed reality. The developed system is based on the HoloLens glasses connected through Robotic Operation System to Unity engine and robotic manipulators. The system gives a possibility to recognize the real r…