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Vinicius Mariano Gonçalves

8 accepted papers

2026

A Differentiable Distance Metric for Robotics Through Generalized Alternating Projection

Vinicius Mariano Gonçalves, Shiqing Wei, Eduardo Malacarne S. de Souza, Prashanth Krishnamurthy, Anthony Tzes, Farshad Khorrami
RA-L 2026

In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control barrier functions. However, since the traditional Euclidean distance is not differentiable, meaning it is not guaranteed to

Cited by 0Source ↗Scholar ↗
2026

A Differentiable Distance Metric for Robotics through Generalized Alternating Projection

Vinicius Mariano Gonçalves, Shiqing Wei, Eduardo Malacarne Soeiro de Souza, Prashanth Krishnamurthy, Anthony Tzes, Farshad Khorrami
ICRA 2026poster

In many robotics applications, it is necessary to compute not only the distance between the robot and the environment, but also its derivative - for example, when using control barrier functions. However, since the traditional Euclidean distance is not differentiable, meaning it is not guaranteed to…

Cited by 0Source ↗PDF ↗Scholar ↗
2026

Safe Vector Field for Robot Navigation in N-Dimensions

Arthur Henrique Dias Nunes, Vinicius Mariano Gonçalves, Luciano Pimenta
ICRA 2026poster

In this work, we propose a novel artificial vector field for robot navigation in n-dimensional path-following tasks, designed to ensure safety and convergence with a smoothed control law. Unlike previous methods based on discontinuous Euclidean distance functions, our approach uses a smooth Euclidea…

Cited by 0Source ↗Scholar ↗
2024

A Control Barrier Function-based Motion Planning Scheme for a Quadruped Robot

Halil Utku Unlu, Vinicius Mariano Gonçalves, Dimitris Chaikalis, Anthony Tzes, Farshad Khorrami
ICRA 2024poster

A Control Barrier Function (CBF)-based motion planning algorithm is proposed. The algorithm explores an unknown environment to reach a target point, providing velocity commands to the robot controller module. CBFs, along with a circulation inequality are used to generate safe paths toward the goal w…

Cited by 6Source ↗Scholar ↗
2024

BSSM: GPU-Accelerated Point-Cloud Distance Metric for Motion Planning

Vinicius Mariano Gonçalves, Prashanth Krishnamurthy, Anthony Tzes, Farshad Khorrami
RA-L 2024

We propose the BSSM: Point-Cloud based (B)iased (S)igned (S)mooth (M)etric, which is used to compute a distance metric between a manipulator and its environment. Unlike many methods that requires that the environment is modeled using simple geometric primitives such as spheres, boxes, and cylinders,

Cited by 2Source ↗Scholar ↗
2023

Safe Navigation and Obstacle Avoidance Using Differentiable Optimization Based Control Barrier Functions

Bolun Dai, Rooholla Khorrambakht, Prashanth Krishnamurthy, Vinicius Mariano Gonçalves, Anthony Tzes, Farshad Khorrami
RA-L 2023

Control barrier functions (CBFs) have been widely applied to safety-critical robotic applications. However, the construction of control barrier functions for robotic systems remains a challenging task. Recently, collision detection using differentiable optimization has provided a way to compute the

Cited by 52Source ↗Scholar ↗
2020

Precise Landing of Autonomous Aerial Vehicles Using Vector Fields

Vinicius Mariano Gonçalves, J. R. McLaughlin, Guilherme A. S. Pereira
RA-L 2020

This letter proposes a strategy for autonomous precision landing of aerial vehicles in fixed pads or runways. Our approach is based on a velocity vector field, which is a closed-loop strategy that guides the vehicle towards the landing point and simultaneously enforces the shape of its trajectory. R

Cited by 18Source ↗Scholar ↗