3 accepted papers
We consider the problem of safe real-time navigation of a robot in a dynamic environment with moving obstacles of arbitrary smooth geometries and input saturation constraints. We assume that the robot detects and models nearby obstacle boundaries with a short-range sensor and that this detection is
We consider joint trajectory generation and tracking control for under-actuated robotic systems. A common solution is to use a layered control architecture, where the top layer uses a simplified model of system dynamics for trajectory generation, and the low layer ensures approximate tracking of thi…
Task allocation can enable effective coordination of multi-robot teams to accomplish tasks that are intractable for individual robots. However, existing approaches to task allocation often assume that task requirements or reward functions are known and explicitly specified by the user. In this work,…