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cs.RO2024
Terrain-Aware Model Predictive Control of Heterogeneous Bipedal and Aerial Robot Coordination for Search and Rescue Tasks
Abdulaziz Shamsah, Jesse Jiang, Ziwon Yoon +2
Humanoid robots offer significant advantages for search and rescue tasks, thanks to their capability to traverse rough terrains and perform transportation tasks. In this study, we…
cs.RO2024
A Unified Approach to Multi-task Legged Navigation: Temporal Logic Meets Reinforcement Learning
Jesse Jiang, Samuel Coogan, Ye Zhao
This study examines the problem of hopping robot navigation planning to achieve simultaneous goal-directed and environment exploration tasks. We consider a scenario in which the ro…
cs.RO2024
Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability
Kasidit Muenprasitivej, Jesse Jiang, Abdulaziz Shamsah +2
We study the problem of bipedal robot navigation in complex environments with uncertain and rough terrain. In particular, we consider a scenario in which the robot is expected to r…