4 papers
Planning Smooth and Safe Control Laws for a Unicycle Robot Among Obstacles
Aref Amiri, Basak Sakcak, Steven M. LaValle
This paper presents a framework for safe navigation of a unicycle point robot to a goal position in an environment populated with obstacles from almost any admissible state, consid…
Smooth Feedback Motion Planning with Reduced Curvature
Aref Amiri, Steven M. LaValle
Feedback motion planning over cell decompositions provides a robust method for generating collision-free robot motion with formal guarantees. However, existing algorithms often pro…
Impact Invariant Trajectory Optimization of 5-Link Biped Robot Using Hybrid Optimization
Aref Amiri, Hassan Salarieh
Bipedal robots have received much attention because of the variety of motion maneuvers that they can produce, and the many applications they have in various areas including rehabil…
Optimal Motion Generation of the Bipedal Under-Actuated Planar Robot for Stair Climbing
Aref Amiri, Hassan Salarieh
The importance of humanoid robots in today's world is undeniable, one of the most important features of humanoid robots is the ability to maneuver in environments such as stairs th…