1 citations · 1 across the 18 of their papers we have counts for
9 papers · 1 filter
BubbleCBF: Constructive Safety for Second-Order Systems and Application to Autonomous Robot Navigation in Unknown Environments
Mani Amani, Mohammed Alyaseen, Zhirui Dai +3
Satisfying safety constraints for systems with second-order dynamics is challenging because a position constraint may require infeasible deceleration. Higher-order control barrier…
Contact-Aware Planning and Control of Continuum Robots in Highly Constrained Environments
Aedan Mangan, Kehan Long, Ki Myung Brian Lee +3
Continuum robots are well suited for navigating confined and fragile environments, such as vascular or endoluminal anatomy, where contact with surrounding structures is often unavo…
Control Barrier Corridors: From Safety Functions to Safe Sets
Ömür Arslan, Nikolay Atanasov
Safe autonomy is a critical requirement and a key enabler for robots to operate safely in unstructured complex environments. Control barrier functions and safe motion corridors are…
A Shared-Autonomy Construction Robotic System for Overhead Works
David Minkwan Kim, K. M. Brian Lee, Yong Hyeok Seo +11
We present the ongoing development of a robotic system for overhead work such as ceiling drilling. The hardware platform comprises a mobile base with a two-stage lift, on which a b…
Neural Configuration-Space Barriers for Manipulation Planning and Control
Kehan Long, Ki Myung Brian Lee, Nikola Raicevic +3
Planning and control for high-dimensional robot manipulators in cluttered dynamic environments require computational efficiency and robust safety guarantees. Inspired by recent adv…
Neural Configuration Distance Function for Continuum Robot Control
Kehan Long, Hardik Parwana, Georgios Fainekos +3
This paper presents a novel method for modeling the shape of a continuum robot as a Neural Configuration Euclidean Distance Function (N-CEDF). By learning separate distance fields…
Sensor-Based Distributionally Robust Control for Safe Robot Navigation in Dynamic Environments
Kehan Long, Yinzhuang Yi, Zhirui Dai +3
We introduce a novel method for mobile robot navigation in dynamic, unknown environments, leveraging onboard sensing and distributionally robust optimization to impose probabilisti…
EAST: Environment Aware Safe Tracking using Planning and Control Co-Design
Zhichao Li, Yinzhuang Yi, Zhuolin Niu +1
This paper considers the problem of autonomous mobile robot navigation in unknown environments with moving obstacles. We propose a new method to achieve environment-aware safe trac…
Safe Stabilizing Control for Polygonal Robots in Dynamic Elliptical Environments
Kehan Long, Khoa Tran, Melvin Leok +1
This paper addresses the challenge of safe navigation for rigid-body mobile robots in dynamic environments. We introduce an analytic approach to compute the distance between a poly…