5 citations · 12 across the 18 of their papers we have counts for
3 papers · 1 filter
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…