6 accepted papers
Smooth, collision-free motion planning is a fundamental challenge in robotics with a wide range of applications such as automated manufacturing, search \& rescue, underwater exploration, etc. Graphs of Convex Sets (GCS) is a recent method for synthesizing smooth trajectories by decomposing the plann…
Trajectory optimization is a widely used technique in robot motion planning for letting the dynamics of the system shape and synthesize complex behaviors. Several previous works have shown its benefits in high-dimensional continuous state spaces and under differential constraints. However, long time
We are interested in studying sports with robots and starting with the problem of intercepting a projectile moving toward a robot manipulator equipped with a shield. To successfully perform this task, the robot needs to (i) detect the incoming projectile, (ii) predict the projectile’s future motion,…
Robots often have to perform manipulation tasks in close proximity to people (Fig 1). As such, it is desirable to use a robot arm that has limited joint torques so as to not injure the nearby person. Unfortunately, these limited torques then limit the payload capability of the arm. By using contact…
Quadrotors can achieve aggressive flight by tracking complex maneuvers and rapidly changing directions. Planning for aggressive flight with trajectory optimization could be incredibly fast, even in higher dimensions, and can account for dynamics of the quadrotor, however, only provides a locally opt
We present a multi-query recovery policy for a hybrid system with goal limit cycle. The sample trajectories and the hybrid limit cycle of the dynamical system are stabilized using locally valid Time Varying LQR controller policies which probabilistically cover a bounded region of state space. The or…