3 citations · 5 across the 11 of their papers we have counts for
9 papers · 1 filter
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…
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…
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…