7 accepted papers
Safe autonomy is a critical requirement and a key enabler for robots to operate in complex environments. Control barrier functions and safe motion corridors are two widely used but distinct safety methods, functional and geometric, respectively, for planning and control. Control barrier functions fi…
The efficiency of sampling-based motion planning algorithms is dependent on how well a steering procedure is capable of capturing both system dynamics and configuration space geometry to connect sample configurations. This paper considers how metrics describing local system dynamics may be combined…
This paper considers the problem of completing assemblies of passive objects in nonconvex environments, cluttered with convex obstacles of unknown position, shape and size that satisfy a specific separation assumption. A differential drive robot equipped with a gripper and a LIDAR sensor, capable of…
A challenge of pan/tilt/zoom (PTZ) camera networks for efficient and flexible visual monitoring is automated active network reconfiguration in response to environmental stimuli. In this paper, given an event/activity distribution over a convex environment, we propose a new provably correct reactive…
Sampling-based algorithms offer computationally efficient, practical solutions to the path finding problem in high-dimensional complex configuration spaces by approximately capturing the connectivity of the underlying space through a (dense) collection of sample configurations joined by simple local…
In robotics, it is often practically and theoretically convenient to design motion planners for approximate low-order (e.g., position-or velocity-controlled) robot models first, and then adapt such reference planners to more accurate high-order (e.g., force/torque-controlled) robot models. In this p…
We reconsider the problem of reactive navigation in sphere worlds, i.e., the construction of a vector field over a compact, convex Euclidean subset punctured by Euclidean disks, whose flow brings a Euclidean disk robot from all but a zero measure set of initial conditions to a designated point desti…