3 papers
cs.RO2024
Current-Based Impedance Control for Interacting with Mobile Manipulators
Jelmer de Wolde, Luzia Knoedler, Gianluca Garofalo +1
As robots shift from industrial to human-centered spaces, adopting mobile manipulators, which expand workspace capabilities, becomes crucial. In these settings, seamless interactio…
eess.SY2023
Simultaneous Synthesis and Verification of Neural Control Barrier Functions through Branch-and-Bound Verification-in-the-loop Training
Xinyu Wang, Luzia Knoedler, Frederik Baymler Mathiesen +1
Control Barrier Functions (CBFs) that provide formal safety guarantees have been widely used for safety-critical systems. However, it is non-trivial to design a CBF. Utilizing neur…
cs.RO2023
Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics
Saray Bakker, Luzia Knoedler, Max Spahn +2
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics a…