3 citations · 5 across the 11 of their papers we have counts for
11 papers
STEM: Semantic Target Search and Exploration using MAVs in Cluttered Environments
Nikhil Sethi, Max Lodel, Laura Ferranti +2
Autonomous target search is crucial for deploying Micro Aerial Vehicles (MAVs) in emergency response and rescue missions. Existing approaches either focus on 2D semantic navigation…
Homotopy-Guided Potential Games for Congestion-Aware Navigation
Mohammed Irshadh Ismaaeel Sathyamangalam Imran, Lasse Peters, Michael Khayyat +3
We address the multi-agent motion planning problem where interactions, collisions, and congestion co-exist. Conventional game-theoretic planners capture interactions among agents b…
Strategizing at Speed: A Learned Model Predictive Game for Multi-Agent Drone Racing
Andrei-Carlo Papuc, Lasse Peters, Sihao Sun +2
Autonomous drone racing pushes the boundaries of high-speed motion planning and multi-agent strategic decision-making. Success in this domain requires drones not only to navigate a…
From Data to Safe Mobile Robot Navigation: An Efficient and Modular Robust MPC Design Pipeline
Dennis Benders, Johannes Köhler, Robert Babuška +2
Model predictive control (MPC) is a powerful strategy for planning and control in autonomous mobile robot navigation. However, ensuring safety in real-world deployments remains cha…
A Step-by-step Guide on Nonlinear Model Predictive Control for Safe Mobile Robot Navigation
Dennis Benders, Laura Ferranti, Johannes Köhler
Designing a model predictive control (MPC) scheme that enables a mobile robot to safely navigate through an obstacle-filled environment is a complicated yet essential task in robot…
A Vehicle System for Navigating Among Vulnerable Road Users Including Remote Operation
Oscar de Groot, Alberto Bertipaglia, Hidde Boekema +21
We present a vehicle system capable of navigating safely and efficiently around Vulnerable Road Users (VRUs), such as pedestrians and cyclists. The system comprises key modules for…
Distributed Attack-Resilient Platooning Against False Data Injection
Lorenzo Lyons, Manuel Boldrer, Laura Ferranti
This paper presents a novel distributed vehicle platooning control and coordination strategy. We propose a distributed predecessor-follower CACC scheme that allows to choose an arb…
Embedded Hierarchical MPC for Autonomous Navigation
Dennis Benders, Johannes Köhler, Thijs Niesten +3
To efficiently deploy robotic systems in society, mobile robots must move autonomously and safely through complex environments. Nonlinear model predictive control (MPC) methods pro…
DART: A Compact Platform For Autonomous Driving Research
Lorenzo Lyons, Thijs Niesten, Laura Ferranti
This paper presents the design of a research platform for autonomous driving applications, the Delft's Autonomous-driving Robotic Testbed (DART). Our goal was to design a small-sca…
Topology-Driven Parallel Trajectory Optimization in Dynamic Environments
Oscar de Groot, Laura Ferranti, Dariu M. Gavrila +1
Ground robots navigating in complex, dynamic environments must compute collision-free trajectories to avoid obstacles safely and efficiently. Nonconvex optimization is a popular me…
Rule-Based Lloyd Algorithm for Multi-Robot Motion Planning and Control with Safety and Convergence Guarantees
Manuel Boldrer, Alvaro Serra-Gomez, Lorenzo Lyons +3
This paper presents a distributed rule-based Lloyd algorithm (RBL) for multi-robot motion planning and control. The main limitations of the basic Loyd-based algorithm (LB) concern…