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Towards Autonomous Excavation Planning
Lorenzo Terenzi, Marco Hutter
Excavation plans are crucial in construction projects, dictating the dirt disposal strategy and excavation sequence based on the final geometry and machinery available. While most…
Versatile Multi-Contact Planning and Control for Legged Loco-Manipulation
Jean-Pierre Sleiman, Farbod Farshidian, Marco Hutter
Loco-manipulation planning skills are pivotal for expanding the utility of robots in everyday environments. These skills can be assessed based on a system's ability to coordinate c…
Scientific Exploration of Challenging Planetary Analog Environments with a Team of Legged Robots
Philip Arm, Gabriel Waibel, Jan Preisig +8
The interest in exploring planetary bodies for scientific investigation and in-situ resource utilization is ever-rising. Yet, many sites of interest are inaccessible to state-of-th…
RAYEN: Imposition of Hard Convex Constraints on Neural Networks
Jesus Tordesillas, Victor Klemm, Jonathan P. How +1
Despite the numerous applications of convex constraints in Robotics, enforcing them within learning-based frameworks remains an open challenge. Existing techniques either fail to g…
ANYmal Parkour: Learning Agile Navigation for Quadrupedal Robots
David Hoeller, Nikita Rudin, Dhionis Sako +1
Performing agile navigation with four-legged robots is a challenging task due to the highly dynamic motions, contacts with various parts of the robot, and the limited field of view…
SMUG Planner: A Safe Multi-Goal Planner for Mobile Robots in Challenging Environments
Changan Chen, Jonas Frey, Philip Arm +1
Robotic exploration or monitoring missions require mobile robots to autonomously and safely navigate between multiple target locations in potentially challenging environments. Curr…