Hiroshi Yoshida — accepted AI-conference papers

2023

Safe and Efficient Dynamic Window Approach for Differential Mobile Robots With Stochastic Dynamics Using Deterministic Sampling

Shinya Yasuda, Taichi Kumagai, Hiroshi Yoshida

RA-L 2023

We propose an efficient and safe dynamic window approach (DWA) by using deterministic sampling. When the system dynamics have uncertainty, the control input includes errors, so that the DWA objective function becomes a random variable. When a random-choice algorithm with a finite number of samples i

Cited by 22 Source ↗Scholar ↗

2021

Cooperative Transportation Robot System Using Risk-Sensitive Stochastic Control

Shinya Yasuda, Taichi Kumagai, Hiroshi Yoshida

IROS 2021poster

We propose a method to determine control input on the basis of minimizing the risk-sensitive cost function and show the results of an experiment in which the method was applied to a cooperative transportation robot system that we have developed. In the robot system, two robots hold a work object to…

Cited by 17 Source ↗Scholar ↗