7 papers
Higher Order Reasoning for Collaborative Communicationless Mobile Robot Operations
Jonathan Reasoner, Nicola Bezzo
In communicationless environments, multi-robot systems must operate without the constant information exchange that many coordination strategies typically assume. This paper present…
Corridor-based Adaptive Control Barrier and Lyapunov Functions for Safe Mobile Robot Navigation
Nicholas Mohammad, Nicola Bezzo
Safe navigation in unknown and cluttered environments remains a challenging problem in robotics. Model Predictive Contour Control (MPCC) has shown promise for performant obstacle a…
Take Your Best Shot: Sampling-Based Planning for Autonomous Photography
Shijie Gao, Lauren Bramblett, Nicola Bezzo
Autonomous mobile robots (AMRs) equipped with high-quality cameras have revolutionized the field of inspections by providing efficient and cost-effective means of conducting survey…
A Schwarz-Christoffel Mapping-based Framework for Sim-to-Real Transfer in Autonomous Robot Operations
Shijie Gao, Nicola Bezzo
Despite the remarkable acceleration of robotic development through advanced simulation technology, robotic applications are often subject to performance reductions in real-world de…
Soft Actor-Critic-based Control Barrier Adaptation for Robust Autonomous Navigation in Unknown Environments
Nicholas Mohammad, Nicola Bezzo
Motion planning failures during autonomous navigation often occur when safety constraints are either too conservative, leading to deadlocks, or too liberal, resulting in collisions…
Using High-Level Patterns to Estimate How Humans Predict a Robot will Behave
Sagar Parekh, Lauren Bramblett, Nicola Bezzo +1
Humans interacting with robots often form predictions of what the robot will do next. For instance, based on the recent behavior of an autonomous car, a nearby human driver might p…