5 citations · 12 across the 18 of their papers we have counts for
19 papers
A Decade of Learning-Based Control: From Theoretic Foundations to Practical Deployment
Angela P. Schoellig, Matthias A. Müller, Sebastian Trimpe +8
Motivated by ten years of Learning-Based Control Invited Sessions at the IEEE Conference on Decision and Control (CDC), this tutorial paper reviews key advances at the intersection…
Crazyflow: An Accurate, GPU-Accelerated, Differentiable Drone Simulator in JAX
Martin Schuck, Marcel P. Rath, Yufei Hua +3
High-quality, large-scale synthetic data from simulations is becoming a cornerstone for pushing robots' capabilities. While aerial robotics simulators have evolved to support speci…
Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks
Xintong Du, Siqi Zhou, Angela P. Schoellig
Mobile manipulators are envisioned to serve more complex roles in people's everyday lives. With recent breakthroughs in large language models, task planners have become better at t…
Perceptive Hierarchical-Task MPC for Sequential Mobile Manipulation in Unstructured Semi-Static Environments
Xintong Du, Jingxing Qian, Siqi Zhou +1
As compared to typical mobile manipulation tasks, sequential mobile manipulation poses a unique challenge -- as the robot operates over extended periods, successful task completion…
SQ-CBF: Signed Distance Functions for Reliable Superquadric-Based Safety Filtering
Haocheng Zhao, Lukas Brunke, Oliver Lagerquist +2
Ensuring safe robot operation in cluttered and dynamic environments remains a fundamental challenge. While control barrier functions (CBFs) provide an effective framework for real-…
SM2ITH: Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control
Francesco D'Orazio, Sepehr Samavi, Xintong Du +3
Mobile manipulators are designed to perform complex sequences of navigation and manipulation tasks in human-centered environments. While recent optimization-based methods such as H…
Where Did I Leave My Glasses? Open-Vocabulary Semantic Exploration in Real-World Semi-Static Environments
Benjamin Bogenberger, Oliver Harrison, Orrin Dahanaggamaarachchi +4
Robots deployed in real-world environments, such as homes, must not only navigate safely but also understand their surroundings and adapt to changes in the environment. To perform…
Addressing Relative Degree Issues in Control Barrier Function Synthesis with Physics-Informed Neural Networks
Lukas Brunke, Siqi Zhou, Francesco D'Orazio +1
In robotics, control barrier function (CBF)-based safety filters are commonly used to enforce state constraints. A critical challenge arises when the relative degree of the CBF var…
SwarmGPT: Combining Large Language Models with Safe Motion Planning for Drone Swarm Choreography
Martin Schuck, Dinushka Orrin Dahanaggamaarachchi, Ben Sprenger +3
Drone swarm performances -- synchronized, expressive aerial displays set to music -- have emerged as a captivating application of modern robotics. Yet designing smooth, safe choreo…
Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards
Lukas Brunke, Yanni Zhang, Ralf Römer +4
Ensuring safe interactions in human-centric environments requires robots to understand and adhere to constraints recognized by humans as "common sense" (e.g., "moving a cup of wate…
Preventing Inactive CBF Safety Filters Caused by Invalid Relative Degree Assumptions
Lukas Brunke, Siqi Zhou, Angela P. Schoellig
Control barrier function (CBF) safety filters emerged as a popular framework to certify and modify potentially unsafe control inputs, for example, provided by a reinforcement learn…
Closing the Perception-Action Loop for Semantically Safe Navigation in Semi-Static Environments
Jingxing Qian, Siqi Zhou, Nicholas Jianrui Ren +2
Autonomous robots navigating in changing environments demand adaptive navigation strategies for safe long-term operation. While many modern control paradigms offer theoretical guar…
Practical Considerations for Discrete-Time Implementations of Continuous-Time Control Barrier Function-Based Safety Filters
Lukas Brunke, Siqi Zhou, Mingxuan Che +1
Safety filters based on control barrier functions (CBFs) have become a popular method to guarantee safety for uncertified control policies, e.g., as resulting from reinforcement le…
Is Data All That Matters? The Role of Control Frequency for Learning-Based Sampled-Data Control of Uncertain Systems
Ralf Römer, Lukas Brunke, Siqi Zhou +1
Learning models or control policies from data has become a powerful tool to improve the performance of uncertain systems. While a strong focus has been placed on increasing the amo…
Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments
Siqi Zhou, Sotiris Papatheodorou, Stefan Leutenegger +1
In this paper, we consider a Micro Aerial Vehicle (MAV) system teleoperated by a non-expert and introduce a perceptive safety filter that leverages Control Barrier Functions (CBFs)…
Optimized Control Invariance Conditions for Uncertain Input-Constrained Nonlinear Control Systems
Lukas Brunke, Siqi Zhou, Mingxuan Che +1
Providing safety guarantees for learning-based controllers is important for real-world applications. One approach to realizing safety for arbitrary control policies is safety filte…
Swarm-GPT: Combining Large Language Models with Safe Motion Planning for Robot Choreography Design
Aoran Jiao, Tanmay P. Patel, Sanjmi Khurana +6
This paper presents Swarm-GPT, a system that integrates large language models (LLMs) with safe swarm motion planning - offering an automated and novel approach to deployable drone…
Safe Multi-Agent Reinforcement Learning for Behavior-Based Cooperative Navigation
Murad Dawood, Sicong Pan, Nils Dengler +3
In this paper, we address the problem of behavior-based cooperative navigation of mobile robots using safe multi-agent reinforcement learning~(MARL). Our work is the first to focus…
AMSwarmX: Safe Swarm Coordination in CompleX Environments via Implicit Non-Convex Decomposition of the Obstacle-Free Space
Vivek K. Adajania, Siqi Zhou, Arun Kumar Singh +1
Quadrotor motion planning in complex environments leverage the concept of safe flight corridor (SFC) to facilitate static obstacle avoidance. Typically, SFCs are constructed throug…