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cs.RO2024
Reachability-based Trajectory Design via Exact Formulation of Implicit Neural Signed Distance Functions
Jonathan Michaux, Qingyi Chen, Challen Enninful Adu +2
Generating receding-horizon motion trajectories for autonomous vehicles in real-time while also providing safety guarantees is challenging. This is because a future trajectory need…
cs.RO2024
Safe Planning for Articulated Robots Using Reachability-based Obstacle Avoidance With Spheres
Jonathan Michaux, Adam Li, Qingyi Chen +3
Generating safe motion plans in real-time is necessary for the wide-scale deployment of robots in unstructured and human-centric environments. These motion plans must be safe to en…
cs.RO2023
Reachability-based Trajectory Design with Neural Implicit Safety Constraints
Jonathan Michaux, Qingyi Chen, Yongseok Kwon +1
Generating safe motion plans in real-time is a key requirement for deploying robot manipulators to assist humans in collaborative settings. In particular, robots must satisfy stric…