91 citations · 146 across the 41 of their papers we have counts for
5 papers · 1 filter
Traversing Environments Using Possibility Graphs with Multiple Action Types
Michael X. Grey, C. Karen Liu, Aaron D. Ames
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of loco…
Footstep and Motion Planning in Semi-unstructured Environments Using Randomized Possibility Graphs
Michael X. Grey, Aaron D. Ames, C. Karen Liu
Traversing environments with arbitrary obstacles poses significant challenges for bipedal robots. In some cases, whole body motions may be necessary to maneuver around an obstacle,…
Safety Barrier Certificates for Heterogeneous Multi-Robot Systems
Li Wang, Aaron Ames, Magnus Egerstedt
This paper presents a formal framework for collision avoidance in multi-robot systems, wherein an existing controller is modified in a minimally invasive fashion to ensure safety.…
Multi-objective Compositions for Collision-Free Connectivity Maintenance in Teams of Mobile Robots
Li Wang, Aaron D. Ames, Magnus Egerstedt
Compositional barrier functions are proposed in this paper to systematically compose multiple objectives for teams of mobile robots. The objectives are first encoded as barrier fun…
Traversing Environments Using Possibility Graphs for Humanoid Robots
Michael X. Grey, Aaron D. Ames, C. Karen Liu
Locomotion for legged robots poses considerable challenges when confronted by obstacles and adverse environments. Footstep planners are typically only designed for one mode of loco…