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cs.RO2025
Real-Time Adaptive Motion Planning via Point Cloud-Guided, Energy-Based Diffusion and Potential Fields
Wondmgezahu Teshome, Kian Behzad, Octavia Camps +3
Motivated by the problem of pursuit-evasion, we present a motion planning framework that combines energy-based diffusion models with artificial potential fields for robust real tim…
cs.RO2024
Chance-Constrained Convex MPC for Robust Quadruped Locomotion Under Parametric and Additive Uncertainties
Ananya Trivedi, Sarvesh Prajapati, Mark Zolotas +2
Recent advances in quadrupedal locomotion have focused on improving stability and performance across diverse environments. However, existing methods often lack adequate safety anal…