5 papers
Integrating Maneuverable Planning and Adaptive Control for Robot Cart-Pushing under Disturbances
Zhe Zhang, Peijia Xie, Yuhan Pang +4
Precise and flexible cart-pushing is a challenging task for mobile robots. The motion constraints during cart-pushing and the robot's redundancy lead to complex motion planning pro…
DA-VPC: Disturbance-Aware Visual Predictive Control Scheme of Docking Maneuvers for Autonomous Trolley Collection
Yuhan Pang, Bingyi Xia, Zhe Zhang +5
Service robots have demonstrated significant potential for autonomous trolley collection and redistribution in public spaces like airports or warehouses to improve efficiency and r…
Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots
Ziqi Zhao, Peijia Xie, Max Q. -H. Meng
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, limited by degrees of freedom, struggle to meet varying footprint needs and…
NAMR-RRT: Neural Adaptive Motion Planning for Mobile Robots in Dynamic Environments
Zhirui Sun, Bingyi Xia, Peijia Xie +2
Robots are increasingly deployed in dynamic and crowded environments, such as urban areas and shopping malls, where efficient and robust navigation is crucial. Traditional risk-bas…
ODD: Omni Differential Drive for Simultaneous Reconfiguration and Omnidirectional Mobility of Wheeled Robots
Ziqi Zhao, Peijia Xie, Max Q. -H. Meng
Wheeled robots are highly efficient in human living environments. However, conventional wheeled designs, with their limited degrees of freedom and constraints in robot configuratio…