6 papers · 1 filter
Exact, Efficient, and Safe Occlusion-Aware Planning Using AH-Polyhedrons
Long Kiu Chung, David Isele, Toktam Mohammadnejad +4
Safely handling occlusions is a fundamental challenge for autonomous mobile robots operating in dynamic environments. This issue is especially prominent in autonomous valet parking…
RTD-RAX: Fast, Safe Trajectory Planning for Systems under Unknown Disturbances
Evanns Morales-Cuadrado, Long Kiu Chung, Shreyas Kousik +1
Reachability-based Trajectory Design (RTD) is a provably safe, real-time trajectory planning framework that combines offline reachable-set computation with online trajectory optimi…
Selecting Spots by Explicitly Predicting Intention from Motion History Improves Performance in Autonomous Parking
Long Kiu Chung, David Isele, Faizan M. Tariq +3
In many applications of social navigation, existing works have shown that predicting and reasoning about human intentions can help robotic agents make safer and more socially accep…
A Closed-Form Geometric Retargeting Solver for Upper Body Humanoid Robot Teleoperation
Chuizheng Kong, Yunho Cho, Wonsuhk Jung +11
Retargeting human motion to robot poses is a practical approach for teleoperating bimanual humanoid robot arms, but existing methods can be suboptimal and slow, often causing undes…
Guaranteed Reach-Avoid for Black-Box Systems through Narrow Gaps via Neural Network Reachability
Long Kiu Chung, Wonsuhk Jung, Srivatsank Pullabhotla +6
In the classical reach-avoid problem, autonomous mobile robots are tasked to reach a goal while avoiding obstacles. However, it is difficult to provide guarantees on the robot's pe…
Goal-Reaching Trajectory Design Near Danger with Piecewise Affine Reach-avoid Computation
Long Kiu Chung, Wonsuhk Jung, Chuizheng Kong +1
Autonomous mobile robots must maintain safety, but should not sacrifice performance, leading to the classical reach-avoid problem: find a trajectory that is guaranteed to reach a g…