57 citations · 59 across the 5 of their papers we have counts for
5 papers
Passive Obstacle Aware Control to Follow Desired Velocities
Lukas Huber, Thibaud Trinca, Jean-Jacques Slotine +1
Evaluating and updating the obstacle avoidance velocity for an autonomous robot in real-time ensures robustness against noise and disturbances. A passive damping controller can obt…
Avoidance of Concave Obstacles through Rotation of Nonlinear Dynamics
Lukas Huber, Jean-Jacques Slotine, Aude Billard
Controlling complex tasks in robotic systems, such as circular motion for cleaning or following curvy lines, can be dealt with using nonlinear vector fields. In this paper, we intr…
From Obstacle Avoidance To Motion Learning Using Local Rotation of Dynamical Systems
Lukas Huber, Jean-Jacques Slotine, Aude Billard
In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often iner…
Fast Obstacle Avoidance Based on Real-Time Sensing
Lukas Huber, Aude Billard, Jean-Jacques Slotine
Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with high…
Avoiding Dense and Dynamic Obstacles in Enclosed Spaces: Application to Moving in Crowds
Lukas Huber, Jean-Jacques Slotine, Aude Billard
This paper presents a closed-form approach to constrain a flow within a given volume and around objects. The flow is guaranteed to converge and to stop at a single fixed point. We…