51 citations · 64 across the 26 of their papers we have counts for
6 papers · 1 filter
On the Synthesis of Reactive Collision-Free Whole-Body Robot Motions: A Complementarity-based Approach
Haowen Yao, Riddhiman Laha, Anirban Sinha +4
This paper is about generating motion plans for high degree-of-freedom systems that account for collisions along the entire body. A particular class of mathematical programs with c…
Motion Planning for Robotics: A Review for Sampling-based Planners
Liding Zhang, Kuanqi Cai, Zewei Sun +5
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion pla…
Using The Concept Hierarchy for Household Action Recognition
Andrei Costinescu, Luis Figueredo, Darius Burschka
We propose a method to systematically represent both the static and the dynamic components of environments, i.e. objects and agents, as well as the changes that are happening in th…
DRAPER: Towards a Robust Robot Deployment and Reliable Evaluation for Quasi-Static Pick-and-Place Cloth-Shaping Neural Controllers
Halid Abdulrahim Kadi, Jose Alex Chandy, Luis Figueredo +2
Comparing robotic cloth-manipulation systems in a real-world setup is challenging. The fidelity gap between simulation-trained cloth neural controllers and real-world operation hin…
Learning Barrier-Certified Polynomial Dynamical Systems for Obstacle Avoidance with Robots
Martin Schonger, Hugo T. M. Kussaba, Lingyun Chen +4
Established techniques that enable robots to learn from demonstrations are based on learning a stable dynamical system (DS). To increase the robots' resilience to perturbations dur…
Smooth real-time motion planning based on a cascade dual-quaternion screw-geometry MPC
Ainoor Teimoorzadeh, Frederico Fernandes Afonso Silva, Luis F. C. Figueredo +1
This paper investigates the tracking problem of a smooth coordinate-invariant trajectory using dual quaternion algebra. The proposed architecture consists of a cascade structure in…