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cs.RO2024
CageCoOpt: Enhancing Manipulation Robustness through Caging-Guided Morphology and Policy Co-Optimization
Yifei Dong, Shaohang Han, Xianyi Cheng +5
Uncertainties in contact dynamics and object geometry remain significant barriers to robust robotic manipulation. Caging mitigates these uncertainties by constraining an object's m…
cs.RO2024★ 1 cited
Multi-Agent Obstacle Avoidance using Velocity Obstacles and Control Barrier Functions
Alejandro Sánchez Roncero, Rafael I. Cabral Muchacho, Petter Ögren
Velocity Obstacles (VO) methods form a paradigm for collision avoidance strategies among moving obstacles and agents. While VO methods perform well in simple multi-agent environmen…