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cs.RO2024
Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles
Jonas Kiemel, Ludovic Righetti, Torsten Kröger +1
In this paper, we present an approach for learning collision-free robot trajectories in the presence of moving obstacles. As a first step, we train a backup policy to generate evas…
cs.RO2024
Jerk-limited Traversal of One-dimensional Paths and its Application to Multi-dimensional Path Tracking
Jonas C. Kiemel, Torsten Kröger
In this paper, we present an iterative method to quickly traverse multi-dimensional paths considering jerk constraints. As a first step, we analyze the traversal of each individual…