5 accepted papers
Robot Operating System 2 (ROS 2) has become the standard framework in modern robotics, but its steep learning curve and complex development environment present significant barriers to newcomers. This paper presents an open-source web lab through which learners can start practicing ROS2 programming o…
Efficient navigation in unknown and dynamic environments is crucial for expanding the application domain of mobile robots. The core challenge stems from the non-availability of a feasible global path for guiding optimization-based local planners. As a result, existing local planners often get trappe
Reversible retaining attachment is a universal task in which bioinspired soft robotic solutions in the form of a helix may come in handy. In this letter, we propose an mm-scale non-metallic electroactive polymer (polypyrrole) helical actuator with a 3D multimode (elongation, rotation) actuation with
In this letter, we present a computationally efficient trajectory optimizer that can exploit GPUs to jointly compute trajectories of tens of agents in under a second. At the heart of our optimizer is a novel reformulation of the non-convex collision avoidance constraints that reduces the core comput
Trajectory optimization problems under affine motion model and convex cost function are often solved through the convex-concave procedure (CCP), wherein the non-convex collision avoidance constraints are replaced with its affine approximation. Although mathematically rigorous, CCP has some critical…